TS. NGUYN NH HIN & TS.

LI KHC LI

H M & NRON
TRONG K THUT IU KHIN
Sch Chuyn kho dng cho o to Sau i hc ngnh iu khin & T ng ho

NH XUT BN KHOA HC T NHIN V CNG NGH H NI 2007

MC LC
LI NI U.................................................................................................. 6 Chng 1: LGIC M..................................................................................... 1 1.1. TNG QUAN V LGIC M............................................................. 1 1.1.1. Qu trnh pht trin ca 1gic m .................................................. 1 1.1.2. C s ton hc ca 1gic m.......................................................... 1 1.1.3. Lgic m l 1gic ca con ngi ................................................... 2 1.2. KHI NIM V TP M.................................................................... 3 1.2.1. Tp kinh in .................................................................................. 3 1.2.3. Cc thng s c trng cho tp m ................................................ 4 1.2.4. Cc dng hm lin thuc ca tp m .............................................. 5 1.3. CC PHP TON TRN TP M..................................................... 5 1.3.1. Php hp hai tp m ....................................................................... 5 1.3.2. Php giao ca hai tp m ................................................................ 6 1.3.3. Php b ca mt tp m ................................................................. 8 1.4. BIN NGN NG V GI TR CA BIN NGN NG ............... 8 1.5. LUT HP THNH M ..................................................................... 9 1.5.1. Mnh hp thnh ......................................................................... 9 1.5.2. M t mnh hp thnh ............................................................... 9 1.5.3. Lut hp thnh m........................................................................ 10 1.5.4. Cc cu trc c bn ca lut hp thnh ........................................ 11 1.5.5. Lut hp thnh n c cu trc SISO........................................... 12 1.5.7. Lut ca nhiu mnh hp thnh............................................... 19 1.5.7. Lut hp thnh SUM-MIN v SUM-PROD................................. 22 1.6. GII M ............................................................................................. 23 2.6.1. Phng php cc i .................................................................... 24 Chng 2: IU KHIN M........................................................................ 29 2.1. CU TRC CA B IU KHIN M.......................................... 29 2.1.1. S khi b iu khin m........................................................ 29 2.1.2. Phn loi b iu khin m .......................................................... 30 2.1.3. Cc bc tng hp b iu khin m........................................... 31 2.2. B IU KHIN M TNH.............................................................. 32

2.2.1. Khi nim...................................................................................... 32 2.2.2. Thut ton tng hp mt b iu khin m tnh .......................... 32 2.2.3. Tng hp b iu khin m tuyn tnh tng on........................ 33 2.3. B IU KHIN M NG............................................................ 35 2.4. THIT K H IU KHIN M BNG PIIN MM MATLAB . 37 2.4.1. Gii thiu hp cng c lgic m .................................................. 37 2.3.2. V d thit k h m ..................................................................... 41 2.5. H IU KHIN M LAI (F-PID) ................................................... 45 2.6. H IU KHIN THCH NGHI M ................................................ 46 2.6.1. Khi nim...................................................................................... 46 2.6.2. Tng hp b iu khin thch nghi m n nh............................ 48 2.7. TNG HP B IU KHIN M THCH NGHI TRN C S L THUYT THCH NGHI KINH IN....................................................... 58 2.7.1. t vn ..................................................................................... 58 2.7.2. M hnh ton hc ca b iu khin m ...................................... 60 2.7.3. Xy dng c cu thch nghi cho b iu khin m ...................... 66 2.7.4. Mt s ng dng iu khin cc i tng cng nghip.............. 70 Chng 3: TNG QUAN V MNG NRON............................................ 75 3.1. NRON SINH HC ........................................................................... 75 3.1.1. Chc nng, t chc v hot ng ca b no con ngi .............. 75 3.1.2. Mng nron sinh hc .................................................................... 76 3.2. MNG NRON NHN TO ............................................................ 77 3.2.1. Khi nim...................................................................................... 77 3.2.2. M hnh nron .............................................................................. 80 3.3. CU TRC MNG ............................................................................ 83 3.3.1. Mng mt lp................................................................................ 83 3.3.2. Mng nhiu lp............................................................................. 84 3.4. CU TRC D LIU VO MNG ................................................. 87 3.4.1. M t vct vo i vi mng tnh............................................... 88 3.4.2. M t vct vo lin tip trong mng ng .................................. 89 3.5. HUN LUYN MNG ...................................................................... 92 3.5.1. Hun luyn gia tng ...................................................................... 92 3.5.2 Hun luyn mng theo gi............................................................. 94 Chng 4: MNG PERCEPTRONS ............................................................. 98 4.1. M U ............................................................................................. 98

4.1.1. M hnh nron perceptron ............................................................ 98 4.1.2. Kin trc mng perceptron ......................................................... 100 4.2. THIT LP V M PHNG PERCEPTRON TRONG MATLAB100 4.2.1 Thit lp ....................................................................................... 100 4.2.2. M phng (sim) .......................................................................... 102 4.2.3. Khi to ...................................................................................... 103 4.3. CC LUT HC .............................................................................. 104 4.3.1. Khi nim.................................................................................... 104 4.3.2. Lut hc Perceptron (learnp) ...................................................... 105 4.3.3. Hun luyn mng (train)............................................................. 107 4.4. CC HN CH CA PERCEPTRON ............................................ 111 4.5. S DNG GIAO DIN HA KHO ST MNG NRON .................................................................................................................. 112 4.5.1. Gii thiu v GUI ....................................................................... 112 4.5.2. Thit lp mng Perceptron (nntool)............................................ 113 4.5.3. Hun luyn mng........................................................................ 115 4.5.4. Xut kt qu Perceptron ra vng lm vic.................................. 116 4.5.5. Xo ca s d liu mng (Network/Data Window) ................... 117 4.5.6 Nhp t dng lnh ....................................................................... 117 4.5.7. Ct bin vo file v np li n .................................................... 118 Chng 5: MNG TUYN TNH ............................................................... 119 5.1. M U ........................................................................................... 119 5.1.1. Khi nim.................................................................................... 119 5.1.2. M hnh nron ............................................................................ 119 5.2. CU TRC MNG .......................................................................... 120 5.2.1. Cu trc....................................................................................... 120 5.2.2. Khi to nron tuyn tnh (Newlin) ........................................... 121 5.3. THUT TON CC TIU TRUNG BNH BNH PHNG SAI LCH........................................................................................................ 122 5.4. THIT K H TUYN TNH .......................................................... 123 5.5. MNG TUYN TNH C TR ....................................................... 123 5.5.1 Mt tr.......................................................................................... 123 5.5.2. Thut ton LMS (learnwh) ......................................................... 123 5.5.3. S phn loi tuyn tnh (train) .................................................... 125 5.6. MT S HN CH CA MNG TUYN TNH.......................... 126

Chng 6: H M - NRON (FUZZY-NEURAL).................................... 128 6.1 S KT HP GIA LOGIC M V MNG NRON .................. 128 6.1.1 Khi nim..................................................................................... 128 6.1.2. Kt hp iu khin m v mng nron ...................................... 129 6.2. NRON M...................................................................................... 133 6.3. HUN LUYN MNG NRON-M ............................................. 135 6.4. S DNG CNG C ANFIS TRONG MATLAB THIT K H M - NRON (ANFIS and the ANFIS Editor GUI)............................... 139 6.4.1. Khi nim.................................................................................... 139 6.4.2. M hnh hc v suy din m thng qua ANFIS (Model Learning and Inferencc Through ANFIS)............................................................ 140 6.4.3. Xc nhn d liu hun luyn (Familiarity Brecds Validation)... 141 6.5. S DNG B SON THO ANFIS GUI ...................................... 143 6.5.1. Cc chc nng ca ANFIS GUI ................................................. 143 6.5.2. Khun dng d liu v b son tho ANFIS GUI: kim tra v hun luyn (Data Formalities and the ANFIS Editor GUI: Checking and Training) ............................................................................................... 144 6.5.3. Mt s v d ................................................................................ 145 6.6. SON THO ANFIS T DNG LNH ......................................... 153 6.7. THNG TIN THM V ANFIS V B SON THO ANFIS EDITOR GUI............................................................................................ 157 6.7.1. D liu hun luyn (Training Data)............................................ 158 6.7.2. Cu trc u vo FIS (Input FIS Structure)................................ 158 6.7.3. Cc ty chn hun luyn (Training Options) ............................. 159 6.7.4 Tu chn hin th Display Options.............................................. 159 6.7.5. Phng php hun luyn (Method) ............................................ 160 6.7.6. Cu trc u ra FIS cho d liu hun 1uyn............................... 160 6.7.7. Sai s hun luyn ........................................................................ 160 6.7.8. Bc tnh (Step-size) .................................................................. 160 6.7.9. D liu kim tra (Checking Data)............................................... 161 6.7.10. Cu trc u ra FIS cho d liu kim tra (Output FIS Structure for Checking Data) ............................................................................... 162 6.7.11. Sai s kim tra (Checking Error) .............................................. 162 TI LIU THAM KHO ............................................................................ 163

LI NI U
Ngy nay, cc h thng m v mng n ron ngy cng c ng dng rng ri trong nhiu lnh vc ca i sng x hi. c bit, trong lnh vc iu khin v t ng ho, h m v mng n ron ngy cng chim u th v mang li nhiu li ch to ln. Vi u im c bn l c th x l vi chnh xc cao nhng thng tin "khng chnh xc" h m v mng nron l c s ca h "iu khin thng minh" v "tr tu nhn to". p ng nhu cu tm hiu v ng dng lgic m v mng n ron ca ng o bn c, c s c v v ng vin ca BGH trng i hc K thut Cng nghip, chng ti mnh dn vit cun sch "H m v nron trong k thut iu khin". Cun sch c vit da trn cc bi ging v h thng iu khin thng minh cho hc vin cao hc ngnh T ng ho trng i hc K thut Cng nghip. Cun sch khng phn tch qu su nhng vn l thuyt phc tp m ch cung cp cho bn c nhng ni dung rt c bn v H m, mng n ron nhn to v h M-nron. Mc tiu cao hn l gip bn c bit cch khai thc nhng cng c sn c ca phn mm MATLAB phn tch, thit k cc b iu khin m, nron nhm iu khin cc i tng trong cng nghip. Mi phn u c cc v d c th hng dn thit k. Cun sch l ti liu tham kho cho hc vin cao hc, sinh vin ngnh iu khin, cc k s ngnh in, Cng ngh thng tin v cc nghin cu sinh quan tm n lnh vc iu khin m v mng nron. Trong qu trnh bin son, khng trnh khi cn nhiu sai st. Chng ti mong nhn c s ng gp kin cc ca ng nghip v bn c gn, xa. Xin chn thnh cm n! Thi Nguyn, ngy 01 thng 12 nm 2006 Cc tc gi

Chng 1

LGIC M
1.1. TNG QUAN V LGIC M 1.1.1. Qu trnh pht trin ca 1gic m T nm 1965 ra i mt l thuyt mi l l thuyt tp m (Fuzzy set theory) o gio s Lofti A. Zadeh trng i hc Califonia - M a ra. T khi l thuyt ra i n c pht trin mnh m qua cc cng trnh khoa hc ca cc nh khoa hc nh: Nm 1972 GS Terano v Asai thit lp ra c s nghin cu h thng iu khin m Nht, nm 1980 hng Smith Co. bt u nghin cu iu khin m cho l hi... Nhng nm u thp k 90 cho n nay h thng iu khin m v mng nron (Fuzzy system and neural network) c cc nh khoa hc, cc k s v sinh vin trong mi lnh vc khoa hc k thut c bit quan tm v ng dng trong sn xut v i sng. Tp m v lgic m da trn cc thng tin "khng y , v i tng iu khin y v i tng mt cch chnh xc. Cc cng ty ca Nht bt u dng lgic m vo k thut iu khin t nm 1980. Nhng do cc phn cng chun tnh ton theo gii thut 1gic m rt km nn hu ht cc ng dng u dng cc phn cng chuyn v lgic m. Mt trong nhng ng dng dng lgic m u tin ti y l nh my x l nc ca Fuji Electric vo nm 1983, h thng xe in ngm ca Hitachi vo nm 1987. 1.1.2. C s ton hc ca 1gic m Lgic m v xc xut thng k u ni v s khng chn chn. Tuy nhin mi lnh vc nh ngha mt khi nim khc nhau v i tng. Trong xc sut thng k s khng chc chn lin quan n s xut hin ca mt s kin chc chn" no . V d: Xc sut vin n trng ch l 0, Bn thn ca s kin "trng ch" c nh ngha r rng, s khng 1

chc chn y l c trng ch hay khng v c nh lng bi mc xc sut (trong trng hp ny l 0,8). Loi pht biu ny c th c x l v kt hp vi cc pht biu khc bng phng php thng k, nh l xc sut c iu kin chng hn. S khng chc chn trong ng ngha, lin quan n ngn ng ca con ngi, l s khng chnh xc trong cc t ng m con ngi dng c lng vn v rt ra kt lun. V d nh cc t m t nhit "nng", "lnh", "m"s khng c mt gi tr chnh xc no gn cho cc t ny, cc khi nim ny cng khc nhau i vi nhng ngi khc nhau (l lnh i vi ngi ny nhng khng lnh i vi ngi khc). Mc d cc khi nim khng c nh ngha chnh xc nhng con ngi vn c th s dng chng cho cc c lng v quyt nh phc tp. Bng s tru tng v c suy ngh, con ngi c th gii quyt cu ni mang ng cnh phc tp m rt kh c th m hnh bi ton hc chnh xc. S khng chc chn theo ng vng: Nh ni trn, mc d dng nhng pht biu khng mang tnh nh lng nhng con ngi vn c th thnh cng trong cc c lng phc tp. Trong nhiu trng hp, con ngi dng s khng chc chn ny tng thm linh hot. Nh trong hu ht x hi, h thng lut php bao gm mt s lut, mi lut m t mt tnh hung. V d mt lut quy nh ti trm xe phi b t 2 nm, mt lut khc li gim nh trch nhim. V trong mt phin ta, chnh n phi quyt nh s ngy pht t ca tn trm da trn mc ru trong ngi, trc y c tin n hay tin s khng,... t kt hp li a ra mt quyt nh cng bng. 1.1.3. Lgic m l 1gic ca con ngi Trong thc t, ta khng nh ngha mt lut cho mt trng hp m nh ngha mt s lut cho cc trng hp nht nh. Khi nhng lut ny l nhng im ri rc ca mt tp cc trng hp lin tc v con ngi xp x chng. Gp mt tnh hung c th, con ngi s kt hp nhng lut m t cc tnh hung tng t. S xp x ny da trn s linh hot ca cc t ng cu to nn lut, cng nh s tru tng v s suy ngh da trn s linh hot trong lgic ca con ngi. thc thi lgic ca con ngi trong k thut cn phi c mt m hnh ton hc ca n. T lgic m ra i nh mt m hnh ton hc cho php 2

m t cc qu trnh quyt nh v c lng ca con ngi theo dng gii thut. D nhin cng c gii hn, l lgic m khng th bt chc tr tng tng v kh nng sng to ca con ngi. Tuy nhin, lgic m cho php ta rt ra kt lun khi gp nhng tnh hung khng c m t trong lut nhng c s tng ng. V vy, nu ta m t nhng mong mun ca mnh i vi h thng trong nhng trng hp c th vo lut th lgic m s to ra gii php da trn tt c nhng mong mun . 1.2. KHI NIM V TP M 1.2.1. Tp kinh in Khi nim tp hp c hnh thnh trn nn tng lgic v c nh ngha nh l s sp xp chung cc i tng c cng tnh cht, c gi l phn t ca tp hp . Cho mt tp hp A, mt phn t x thuc A c k hiu: x A. Thng thng ta dng hai cch biu din tp hp kinh in, l: Lit k cc phn t ca tp hp, v d tp A1 = {xe p, xe my, xe ca, xe ti}; - Biu din tp hp thng qua tnh cht tng qut ca cc phn t, v d: tp cc s thc (R), Tp cc s t nhin (N). biu din mt tp hp A trn tp nn X, ta dng hm thuc A(x), vi: 1 khi x A A(x) ch nhn mt trong 2 gi tr "1" 0 khi x A hoc "0" k hiu = {x X| x tho mn mt s tnh cht no }. Ta ni: Tp A c nh ngha trn tp nn X. A(x) = Hnh 1.1 m t hm ph thuc A(x) ca tp cc s thc t -5 n 5. A = {xR|5 x 5} 1.2.2. nh ngha tp m Trong khi nim tp hp kinh in hm ph thuc A(x) ca tp A, ch c mt trong hai gi tr l "1" nu xA hoc "0" nu xA. 3

Cch biu din hm ph thuc nh trn s khng ph hp vi nhng tp c m t "m" nh tp B gm cc s thc gn bng 5: B = {x R| x 5}. Khi ta khng th khng nh chc chn s 4 c thuc B hay khng? m ch c th ni n thuc B gao nhiu phn trm. tr li c cu hi ny, ta phi coi hm ph thuc B(x) c gi tr trong khong t 0 n 1 tc l: 0 B(x) 1. T phn tch trn ta c nh ngha: Tp m B xc nh trn tp kinh in M l mt tp m mt phn t ca n c biu din bi mt cp gi tr (x,B(x)). Trong x M v B(x) l nh x. nh x B(x) c gi l hm lin thuc ca tp m B. Tp kinh in M c gi l c s ca tp m B. 1.2.3. Cc thng s c trng cho tp m Cc thng s c trng cho tp m l cao, min xc nh v min tin cy (hnh 1.3) + cao ca mt tp m B (nh ngha trn c s M) l gi tr ln nht trong cc gi tr ca hm lin thuc: H = SUP B (x)
xM

Mt tp m c t nht mt phn t c ph thuc bng 1 c gi l tp m chnh tc (H = 1). Ngc li, mt tp m B vi H < 1 gi l tp m khng chnh tc.
+ Min xc nh ca tp m B (nh ngha trn c s M) c k hiu bi S l tp con ca M c gi tr hm lin thuc khc khng: 4

S = {x M| B(x) > 0}.

+ Min tin cy ca tp m B (nh ngha trn c s M) c k hiu bi T, l tp con ca M c gi tr hm lin thuc bng 1:

T= {x M| B(X) = 1}.
1.2.4. Cc dng hm lin thuc ca tp m

C rt nhiu cch khc nhau biu din hm lin thuc ca tp m. Di y l mt s dng hm lin thuc thng dng: + Hm lin thuc hnh tam gic (hnh 1.4a); + Hm lin thuc hnh thang (hnh 1.4b); + Hm lin thuc dng Gauss (hnh l.4c); + Hm lin thuc dng Sign (hnh 1.4d); + Hm Sigmoidal (hnh 1.4e); + Hm hnh chung (hnh 1.4f).

Hnh 1.4. Cc dng hm lin thuc ca tp m

1.3. CC PHP TON TRN TP M

Trn tp m c 3 php ton c bn l php hp, php giao, v php b.

1.3.1. Php hp hai tp m

a/ Hp ca hai lp m c cng c s

Hnh 1.5. Hp ca hai tp m c cng c s theo quy tc Max (a), theo Lukasiewwiez (b) Hp ca hai tp m A v B c cng c s M l mt tp m cng xc nh trn c s M vi hm lin thuc c xc nh theo mt trong cc cng thc sau: 1. A B(x) = Max{A(x), B(x)};
2. A B(x) = min {1, A(x) + B(x)} php hp Lukasiewiez);

3. A B(x) = 4. A B(x) =

max{A(x), B(x)} khi min{A(x), B(x)}=0 1 khi min{A(x), B(x)} 0 A(x) + B(x) (Tng Einstein) 1 + A(x) + B(x)

5. A B(x) = A(x) = B(x) - A(x)A(x) (tng trc tip). Ch : C nhiu cng thc khc nhau c dng tnh hm lin thuc A B(x) ca hai tp m. Song trong k thut iu khin m ta ch yu dng 2 cng thc hp, l ly Max v php hp Lukasiewiez. b/ Hp hai tp m khc c s thc hin php hp 2 tp m khc c s, v nguyn tc ta phi a chng v cng mt c s. Xt tp m A vi hm lin thuc A(x) c nh ngha trn c s M v B vi hm lin thuc B(x) c nh ngha trn c s N, hp ca 2 tp m A v B l mt tp m xc nh trn c s MxN vi hm lin thuc: A B(x, y) = Max {A(x, y), B(x, y)} Vi A(x, y) = A(x) vi mi y N v B(x, y) = B(y) vi mi x M.
1.3.2. Php giao ca hai tp m

a/ Giao hai tp m cng c s

Hnh 1.6. Giao ca hai tp m c cng c s theo quy tc Min (a) v theo tch i s (b) Giao ca hai tp m A v B c cng c s M l mt tp m cng xc nh trn c s M vi hm lin thuc A B(x) c tnh: 1, A B(x) = Min {A(x), B(x)}; 2. A B(x) = A(x).B(x) (tch i s);

cng ging nh trong php hp, trong k thut iu khin ch yu ta s dng cng thc 1 v cng thc 2 thc hin php giao 2 tp m. b/ Giao hai tp m khc c s thc hin php giao 2 tp m khc c s, ta cn phi a v cng c s. Khi , giao ca tp m A c hm lin thuc A(x) nh ngha trn c s M vi tp m B c hm lin thuc B(x) nh ngha trn c s N l mt tp m xc nh trn c s M x N c hm lin thuc c tnh: A B(x, y) = MIN{A(x, y), B(x, y)} 7

Trong : A(x, y) = A(x) vi mi y N v B(x, y) = B(x) vi mi x M.

1.3.3. Php b ca mt tp m

B ca tp m A c c s M v hm lin thuc A(x) l mt tp m AC xc nh trn cng c s M vi hm lin thuc: A(x) = 1- A(x)

1.4. BIN NGN NG V GI TR CA BIN NGN NG

Thc t hng ngy chng ta lun dng cc t ng, li ni m t cc bin. V d khi ta ni: "in p cao qu", "xe chy nhanh qu",... nh vy bin "in p", bin "Tc xe",... nhn cc gi tr t "nhanh" n "chm", t "cao" n "thp". dng tng minh, cc bin ny nhn cc gi tr c th (r) nh in p bng 200 V, 250 V...; tc xe bng 60 km/h, 90 km/h... Khi cc bin nhn cc gi tr khng r rng nh "cao", "rt cao" "nhanh", "hi nhanh"... ta khng th dng cc gi tr r m t c m phi s dng mt s khi nim mi m t gi l bin ngn ng. M bin c th gn bi cc t trong ngn ng t nhin lm gi tr ca n gi l bin ngn ng. Mt bin ngn ng thng bao gm 4 thng s: X, T, U, M. Vi: + X: Tn ca bin ngn ng; + T: Tp ca cc gi tr ngn ng; + U: Khng gian nn m trn bin ngn ng X nhn cc gi tr r; + M: Ch ra s phn b ca T trn U. V d: Bin ngn ng "Tc xe" c tp cc gi tr ngn ng l rt chm, chm, trung bnh, nhanh, rt nhanh, khng gian nn ca bin l tp cc s thc dng. Vy bin tc xe c 2 min gi tr khc nhau: - Min cc gi tr ngn ng N = [rt chm, chm, trung bnh, nhanh, rt nhanh]. - Min cc gi tr vt l V = {x R (x0)}. Mi gi tr ngn ng (mi phn t ca Ni c tp nn l min gi tr vt l V. T mt gi tr vt l ca bin ngn ng ta c c mt vct gm cc ph thuc ca x: 8

X T = [rt chm chm trung bnh nhanh rt nhanh] nh x trn c gi l qu trnh fuzzy ho gi tr r x. V d: ng vi tc 50 km/h ta c

1.5. LUT HP THNH M 1.5.1. Mnh hp thnh

Xt hai bin ngn ng v ; Bin nhn gi tr (m) A c hm lin thuc A(x) v nhn gi tr (m) B c hm lin thuc B(x) th hai biu thc: = A; = B c gi l hai mnh . Lut iu khin: nu = A th = B c gi l mnh hp thnh.Trong = A gi l mnh iu kin v = B gi l mnh kt lun. Mt mnh hp thnh c th c nhiu mnh iu kin v nhiu mnh kt lun, cc mnh lin kt vi nhau bng ton t "v". Da vo s mnh iu kin v s mnh kt lun trong mt mnh hp thnh m ta phn chng thnh cc cu trc khc nhau: - Cu trc SISO (mt vo, mt ra): Ch c mt mnh iu kin v mt mnh kt lun. V d: nu = A th = B. - Cu trc MISO (Nhiu vo, mt ra): C t 2 mnh iu kin tr ln v mt mnh kt lun. V d: nu 1 = A1 v 2 = A2 th = B. - Cu trc MIMO (Nhiu vo, nhiu ra): C t nht 2 mnh iu kin v 2 mnh kt lun. V d: nu 1 = A1 v 2 = A2 th 1 = B1 v 2 = B2
1.5.2. M t mnh hp thnh

Xt mnh hp thnh: nu = A th - B; T mt gi tr x0 c ph thuc A(x0) i vi tp m A ca mnh iu kin, ta xc nh c tho mn mnh kt lun. Biu din tho mn ca mnh kt lun nh mt tp m B cng c s vi B th mnh hp thnh chnh l nh x: A(x0) B(y). nh x ny ch ra rng mnh hp thnh l mt tp m mi phn t l mt gi tr (A(x0), B(y)) tc l mi phn t l mt tp m. M t mnh hp thnh tc l m t nh x trn. nh x (A(x0), B(y)) c gi l hm lin thuc ca lut hp thnh. xy dng B(y) c rt nhiu kin khc nhau. Trong k thut iu khin ta thng s dng nguyn tc ca Mamdani " ph thuc ca kt lun khng c ln hn ph thuc ca iu kin"? T nguyn tc ta c hai cng thc xc nh hm lin thuc cho mnh hp thnh A => B: 1. cng thc MIN: A=>B(x, y) = MIN{A(x), B(y)} 2. cng thc PROD: A=>B(x, y) = A(x)B(xy
1.5.3. Lut hp thnh m

Lut hp thnh l tn chung gi m hnh R biu din (mt hay nhiu) hm lin thuc A=>B(x, y) cho (mt hay nhiu) mnh hp thnh A B. Mt lut hp thnh ch c 1 mnh hp thnh gi l lut hp thnh n, c t 2 mnh hp thnh tr ln gi l lut hp thnh phc. Xt lut hp thnh R gm 3 mnh hp thnh: R1: Nu x = A1 Th y = B1 hoc R2: Nu x = A2 Th y = B2 hoc R3: Nu x = A3 Th y = B3 hoc

Hnh 1.9. M t hm lin thuc ca lut hp thnh 10

Vi mi gi tr r x0 ca bin ngn ng u vo, ta c 3 tp m ng vi 3 mnh hp thnh R1, R2, R3 ca lut hp thnh R. Gi hm lin thuc ca cc tp m u ra l: B' ( y ) ; B' ( y ) ; B' ( y ) th gi tr ca lut hp thnh R
1 2 3

ng vi x0 l tp m B thu c qua php hp 3 tp m: B = B1 B2 B3. Tu theo cch thu nhn cc hm lin thuc B' ( y ) ; B' ( y ) ; B' ( y ) v
1 2 3

phng php thc hin php hp nhn tp m B m ta c tn gi cc lut hp thnh khc nhau: - Lut hp thnh MAX-MIN nu B' ( y ) ; B' ( y ) ; B' ( y ) thu c qua
1 2 3

php ly Min cn php hp thc hin theo lut Max; - Lut hp thnh MAX-PROD nu B' ( y ) ; B' ( y ) ; B' ( y ) thu c qua
1 2 3

php PROD cn php hp thc hin theo lut Max; - Lut hp thnh SUM-MIN nu B' ( y ) ; B' ( y ) ; B' ( y ) thu c qua
1 2 3

php ly Min cn php hp thc hin theo lut SUM; - Lut hp thnh SUM - PROD nu B' ( y ) ; B' ( y ) ; B' ( y ) thu c
1 2 3

qua php ly PROD cn php hp thc hin theo Lukasiewicz. Vy, xc nh hm lin thuc B(y) ca gi tr u ra B ca lut hp thnh c n mnh hp thnh R1, R2, ta thc hin theo cc bc sau: + Xc nh tho mn hj. + Tnh B' ( y ) ; B' ( y ) ; B' ( y ) theo quy tc min hoc Prod
1 2 3

B ( y ) = Min{uA(x0), B ( y ) }= Min {hj, B ( y ) }

' j
i j

hoc B ( y ) = A(x0). B ( y ) = hj. B ( y ) .

j j j

+ xc nh B(y) bng cch thc hin php hp cc B' ( y )

j

1.5.4. Cc cu trc c bn ca lut hp thnh

Ta s kho st hai cu trc c bn ca lut hp thnh, l cu trc SISO v cu trc MISO. 11

+ Cu trc SISO l cu trc trong lut hp thnh c cc mnh iu kin v mnh kt lun l cc mnh n.

V d:

R1: nu = Al th = B1 hoc

R2: nu = A2 th = B2.
+ Cu trc MISO l cu trc trong lut hp thnh c cc mnh iu kin l mnh phc v mnh kt lun l mnh n.

V d:

R1: nu 1 = A1 v 2 = B1 th = C1 hoc

R2: nu 1 = A2 v 2 = B2 th = C2.
1.5.5. Lut hp thnh n c cu trc SISO

a) Lut hp thnh MIN Lut hp thnh MIN l tn gi m hnh (ma trn) R ca mnh hp thnh A B khi hm lin thuc A=>B(x, y) ca n c xy dng theo quy tc MIN. Xt lut hp thnh ch c 1 mnh : Nu = A th = B xy dng R, trc tin hai hm lin thuc A(x) v B(y) c ri rc ho vi tn s ri rc nh khng b mt thng tin. V d: A(x), B(y) c ri rc ho ti cc im: x {10, 20, 30, 40, 50} y {0.5, 0.6, 0.7, 0.8, 0.9}. Vi cc im ri rc ny th theo A=>B(20; 0.7) = R(20; 0.7)=MIN{A(20),b(0.7)}=MIN{0.5; 1}= 0.5 A=>B(30; 0.7) = R(30; 0.7)=MIN{A(30),b(0.7)}= MIN{1; 1}= 1 .

Hnh 1.10. Ri rc ho cc hm lin thuc 12

Nhm tt c cc gi tr A=>B(x, y) = R(x,y) gm 5 x 5= 25 gi tr, thnh ma trn R (c gi l ma trn hp thnh MIN) gm 5 hng 5 ct.

Khi tn hiu u vo l mt gi tr r x0 = 20, tn hiu u ra B c hm lin thuc: B(y) = R(20, y) = {0; 0.5; 0.5; 0.5; 0}. thun tin cho vic xc nh hm lin thuc ca tn hiu ra di dng nhn ma trn, ta nh ngha mt ma trn T = {a1 a2} ma trn ny ch c mt phn t bng 1 cn cc phn t khc u bng 0. V d vi tp 5 phn t cho tn hiu u vo x {10; 20; 30; 40; 50} th ng vi x0 = 20 (phn t th hai) ta c: a = (0 1 0 0 0) V khi B(y) = R(x0, y) = aT. R = {0 0.5 0.5 0.5 0}. Tng qut cho mt gi tr r x0 bt k x0 X = {10 20 30 40 50} ti u vo vct chuyn v c dng: aT = (a1, a2, a3, a4, a5) trong ch c mt phn t a; duy nht c ch s i l ch s ca x0 trong X c gi tr bng 1, cc phn t cn li u bng 0. Hm lin thuc mB'(y) di dng ri rc c xc nh:

13

Ch : Trong biu thc (1.1) tnh B'(y) ta cn ci t thut ton nhn ma trn ca i s tuyn tnh, do tc x l chm. khc phc nhc im ny, php nhn ma trn (1.1) c thay bi lut MAX-MIN ca Zadeh vi MAX (php ly cc i) thay vo v tr php cng v MIN (php ly cc tiu) thay vo v tr php nhn. Khi :

lK = max min {ai rki}

1i 5

Kt qu hai php tnh (1.1) v (1.2) vi u vo l mt gi tr r hon ton ging nhau. Cng t l do trn m lut hp thnh MIN cn c tn gi l lut hp thnh MAX-MIN. b/ Lut hp thnh PROD Tng t nh lm vi lut hp thnh MIN, ma trn R ca lut hp thnh PROD c xy dng gm cc hng l m gi tr ri rc ca u ra B'(y1), B'(y2), B'(ym) cho n gi tr r u vo xn, xn,., xn Nh Vy ma trn R s c n hng v m ct. Xt v d trn cho 5 gi tr u vo: {x1, x2, x3, x4, x5} = {10 20 30 40 50} th vi tng gi tr xi, 5 gi tr ca hm lin thuc u ra tng ng B'(0.5), B'(0.6), B'(0.7), B'(0.8), B'(0.9) c lit k trong ma trn R c gi l ma trn hp thnh PROD. T ma trn R trn, hm lin thuc B'(y) ca gi tr u ra khi u vo l gi tr r x4 cng c xc nh bng cng thc: aT = (0, 0, 0, 1, 0) B'(y) = R(x4, y) = aT .R = {0, 0.25, 0.5, 0.25, 0}. rt ngn thi gian tnh v cng m rng cng thc trn cho trng hp u vo l gi tr m, php nhn ma trn T.R cng c thay bng lut MAX- PROD ca Zadeh nh lm cho lut hp thnh MIN. Trong php nhn c thc hin bnh thng cn php ly cc i thay vo v tr ca php cng.
14

0.5
0 0 0 0 0

0.6
0 0.25 0.5 0.25 0

0.7
0 0.5 1 0.5 0

0.8
0 0.25 0.5 0.25 0

0.9
0 0 0 0 0

i=1 i=2 i=3 i=4 i=5

10 20 30 40 50

c) Thut ton xy dng R

T cc phn tch trn, ta rt ra thut ton xy dng R cho lut hp thnh n c cu trc SISO (Nu = A Th = B) nh sau: 1- Ri rc ho A(x) ti n im x1, x2,,xn ti m im y1, y2,,yn (n c th khc m) 2- Xy dng ma trn R gm n hng v m ct:

3- Xc nh hm lin thuc B'(y) ca u ra ng vi gi tr r du vo xk theo biu thc:

15

trong : lK = max min {ai rki}, k = 1,2,.., m nu s dng cng thc

1i n

MAX-MIN v lK = max prod {ai rki}, k = 1,2,.., m nu s dng cng thc

1i n

MAX-PROD. 4- Xc nh B'(y) theo cng thc: B'(y) = ( l1, l2,,lm).

Ch :

Trong trng hp u vo l gi tr m A' vi hm lin thuc A'(y) th hm lin thuc B'(y) ca gi tr u ra B': B'(y) = ( l1, l2,,lm) cng c tnh theo cng thc (2.4) v lk = max min {ai rki}, k = 1, 2,, m
1i n

trong a l vct gm cc gi tr ri rc ca hm lin thuc A'(x) ca A' ti cc im: x X = {x1, x2,,xn} tc l aT = (A'(x1), A'(x2),, A'(xn)). Gi thit c n im ri rc x1, x2,,xn ca c s A v m im ri rc y1, y2,,ym ca c s B ta c hai vct: AT={A(x1), A(x2),, A(xn)} v AT={B(y1), B(y2),, B(xm)} theo Zadeh ta c th xc inh ngay c R thng qua tch dyadic, tc l tch ca mt vct vi mt vct chuyn v: R = A.BT Trong nu quy tc p dng l MAX - MIN th php nhn phi c thay bng php tnh ly cc tiu (min), vi quy tc MAX - PROD th thc hin php nhn nh bnh thng.
V d: Lut iu khin: Nu = A Th = B. Hy xy dng ma trn R ca lut AB(x, y). 16

Vi 5 im ri rc ca X (c s ca A) ta c: {x1, x2, x3, x4, x5} = {10, 20, 30, 40, 50} tng ng AT = {0; 0.5; 1; 0.5; 0} V Vi 5 im ri rc ca Y (c s ca B) {y1, y2, y3,yx4, y5} = {0.5, 0.6, 0.7, 0.8, 0.9} Tng ng BT = {0; 0.5; l; 0.5; 0}. Nu s dng quy tc MAX-MIN (php nhn c thay bng min) ma trn hp thnh R s nh sau:

Nu s dng quy tc MAX-PROD (php nhn thc hin bnh thng) ta c ma trn hp thnh R l:

1.5.6. Lut hp thnh n c cu trc MISO Xt mt mnh hp thnh vi d mnh iu kin:

Nu 1 = A1 v 2 = A2 v v d = Ad th = B

Bao gm d bin ngn ng u vo 1, 2,, d v mt bin u ra . Vic m hnh ho mnh trn cng c thc hin tng t nh vic m hnh ho mnh hp thnh c mt iu kin, trong lin kt v gia cc mnh (hay gi tr m) c thc hin bng php giao cc tp m A1, 17

A2,,An Vi nhau theo cng thc: A1 A2(x) = min {A1(x), A2(x)}. Kt qu ca php giao s l tho mn H ca lut (hnh 1-12). Cc bc xy dng lut hp thnh R nh sau: 1- Ri rc ho min xc nh hm lin thuc A1(x1), A2(x2),, Ad(xd), B(y) ca cc mnh iu kin v mnh kt lun. 2- Xc nh tho mn H cho tng vct cc gi tr r u vo l vct t hp d im mu thuc min xc nh ca cc hm lin thuc A(x), (i = 1, 2,.., d). Chng hn vi mt vct cc gi tr r u vo:

x H=

trong ci (i= 1,2,...,d) l mt trong cc im mu trong min xc nh ca Ai(x) th: MIN{A1(c1), A2(c2),, Ad(cd)}

Hnh 1.13. Xy dng R cho lut hp thnh hai mnh iu kin

3- Lp R gm cc hm lin thuc gi tr m u ra cho tng vct cc gi tr u vo theo nguyn tc: B(y)= MIN {H, B(y)} Nu s dng quy tc MAX-MIN B(y)= H, B(y) Nu s dng quy tc MAX-PROD.

Ch : i vi lut hp thnh R c d mnh iu kin khng th biu din di dng ma trn c na m thnh mt li trong khng gian d + 1 chiu.

Tht vy, xt mt mnh hp thnh vi hai mnh iu kin: 18

Nu = A v = B th = C

Lut hp thnh R ca n c dng nh hnh 2.12: R: A^B C

Cc bc xy dng R nh sau:

1. Ri rc ho cc hm lin thuc: - Hm lin thuc A(x) c ri rc ho ti 5 im: x {1; 2; 3; 4; 5}. - Hm lin thuc B(y) c ri rc ho tt 5 im: y {3; 4; 5; 6; 7}. - Hm lin thuc C(z) c ri rc ho ti 5 im: z {5; 6; 7; 8; 9}. 2. Lp R gm cc hm lin thuc cho tng vect gi tr u vo v ng vi tng cp im u vo l mt hm lin thuc C'(z) ca bin m u ra C (hnh 1.14).

1.5.7. Lut ca nhiu mnh hp thnh

Trong thc t hu nh khng b iu khin m no ch lm vic vi mt mnh hp thnh m thng thng vi nhiu mnh hp thnh? hay cn gi l mt tp cc lut iu khin Rk. sau y ta s trinh by cch lin kt cc lut iu khin ring r Rk li vi nhau trong mt b iu khin chung v qua m nu bt c ngha ca k hiu "MAX" s dng trong tn gi lut hp thnh nh MAX- MIN hay MAX-PROD.
a) Lut hp thnh ca hai mnh hp thnh

19

Xt lut iu khin gm hai mnh hp thnh:

R1: Nu = A1 th = B1 hoc R2: Nu = A2 th = B2

Hm lin thuc ca cc tp m c m t trong hnh 2.15. K hiu R l lut hp thnh chung ca b iu khin, ta c: R = R1 R2 K hiu hm lin thuc ca R1 l R1(x, y) v ca R2 l R2(x, y), th theo cng thc A B(x) = max {A(x), B(x)}. Hm lin thuc ca R s c xc nh: R(x, y) = max {R1(x, y), R2(x, y)}. Vi mt gi tr r x0 ti u vo, ta c tho mn ca cc mnh iu kin nh sau: i vi lut iu khin R1: - tho mn: H1 = A1(x0) - Gi tr m u ra B1: B1(y) = min{H1, B1(y)}(hnh 2.l5a). i vi lut iu khin R2: - tho mn: H2 = A2(x0) - Gi tr m u ra B2: B2(y) = min{H2, B2(y)}(hnh 2.l5b). T y ta c: R(x0, y) = MAX{B1(y), B2(y)}

Hnh 2.15. hm lin thuc ca lut iu khin theo quy tc MAX-MIN

a) Xc nh hm lin thuc u ra ca lut iu khin th nht. 20

b) Xc nh hm lin thuc u ra ca lut iu khin th hai. c) Hm lin thuc u ra ca lut hp thnh. chnh l hm lin thuc ca gi tr m u ra B ca b iu khin gm hai lut iu khin R = R1 R2 khi u vo l mt gi tr r x0 (hnh 2.15c). xc nh lut hp thnh chung R, trc ht hai c s X v Y ca cc gi tr A1, A2 v B1, B2 c ri rc ho, gi s ti cc im: X = {x1, x2, x3,,xn} (n im mu) Y = {y1, y2, y3,,ym} (m im mu). Gi tr ca cc hm lin thuc A1(x), A2(x), B1(y), B2(y) sau khi ri rc ho l

T y suy ra:

v do lut hp thnh chung s l:

b) Lut hp thnh ca nhiu mnh hp thnh Xt lut iu khin R gm p mnh hp thnh: 21

trong cc gi tr m A1, A2,, Ap c cng c s X v B1, B2,, Bp c cng c s Y. Gi hm lin thuc ca Ak v Bk l Ak(x) v Bk(y) vi k = 1, 2,..., p. Thut ton trin khai: R = R1 R2 Rp c thc hin theo cc bc sau:
Bc 1: Ri rc ho X ti n im (x1, x2, x3,, xn) V Y ti m im (y1, y2, y3,, yn) Bc 2: Xc nh cc vct Ak v Bk (k = 1, 2,..,p) ti cc im ri rc theo biu thc:

TAk = {Ak(x1), Ak(x2),, Ak(xn)} TBk = {Bk(y1), Bk(y2),, Bk(yn)}

Bc 3: Xc nh m hnh (ma trn) Rk cho mnh th k

Rk = Ak.TBk = (rkij), i = 1, 2,, n v j = 1, 2,,m trong php (.) c thay bng php tnh ly cc tiu min khi s dng nguyn tc MAX-MIN v s dng php nhn bnh thng khi s dng nguyn tc MAX- PROD. Bc 4: Xc nh lut hp thnh R = Max (rkij) vi k = 1, 2,..., p}.
1.5.7. Lut hp thnh SUM-MIN v SUM-PROD

phn trn, chng ta tm hiu phng php xy dng lut hp thnh chung R cho mt tp gm nhiu mnh hp thnh Rk c lin kt vi nhau bng php hp theo biu thc: A B(x) = max{A(x), B(x)}. Kiu lin kt ny khng c tnh thng k. V d khi a s cc mnh hp thnh Rk c cng mt gi tr u ra nhng khng phi l gi tr ln nht s khng c ti v b mt trong kt qu chung. khc phc nhc im ny php hp Lukasiewicz theo biu: 22

A B(x) = min{1, A(x) + B(x)} thay cho A B(x) = max{ A(x), B(x)} lin kt cc lut iu khin Rk li vi nhau thnh lut hp thnh chung R

trong php ly cc tiu min c thc hin gia s 1 v tng phn t ca ma trn tng. cng thc ny, R c xc nh bng cch cng cc Rk Ca cc mnh hp thnh nn lut hp thnh chung R theo lin kt Lukasiewicz s c tn gi l SUM-MIN hoc SUM-PROD.

Hnh 2.16. Hm lin thuc ca hp hai lut iu khin theo quy tc SUM-MIN

Thut ton trin khai R theo quy tc SUM-MIN hay SUM-PROD cng bao gm cc bc nh khi trin khai vi quy tc MAX-MIN hoc MAXPROD trnh by mc trn ch khc bc 4 ta s dng cng thc: R =
n min 1, Rk k =1

Hnh 1.16 l mt v d v m hnh ho R gm hai mnh hp thnh theo quy tc SUM-MIN.

1.6. GII M

T mt gi tr r x0 u vo, sau khi qua khi lut hp thnh ta c tp 23

m u ra B'. Vn t ra l cn phi xc nh gi tr r y0 t tp m u ra . Mun vy ta cn thc hin vic gii m. Gii m l qu trnh xc nh mt gi tr r y0 no c th chp nhn c t hm lin thuc B(y) ca gi tr m B (tp m B). C hai phng php gii m chnh l phng php cc i v phng php im trng tm.
2.6.1. Phng php cc i

gii m theo phng php cc i, ta cn thc hin 2 bc:

- Xc nh min cha gi tr r y0 (min G): l min m ti hm lin thuc B(y) t gi tr cc i ( cao H ca tp m B), tc l min:

G = {y Y| B(y) = H}
- Xc nh y0 c th chp nhn c t G.

Hnh 1.17 l tp m u ra ca mt lut hp thnh gm 2 mnh hp thnh: R1: Nu = A1 Th = B1 R2: Nu = A2 Th = B2 Min cha gi tr r G l khong [y1, y2] ca min gi tr ca tp m u ra B2 ca lut iu khin: R2: Nu = A2 Th = B2 vi y1 l im cn tri ca G y1 = inf ( y ) v y2 l im cn phi ca G yG
y1 = sup( y ) . Khi , lut R2 c gi l lut iu khin quyt nh. yG Vy lut iu khin quyt nh l lut Rk, k{1, 2,, p} m gi tr m u ra ca n c cao ln nht (Bng cao H ca B).

D xc nh y0 trong khong [y1, y2] ta c th p dng theo mt trong ba nguyn l: Nguyn l trung bnh; nguyn l cn tri v nguyn l cn phi.

24

Hnh 1.17a.b.c. Cc nguyn l gii m theo phng php cc di

a) Nguyn l trung binh Gi tr r y1 s l trung bnh cng ca y1 v y2

b) Nguyn l cn tri Gi tr r y0 c ly bng cn tri y1 ca G

c) Nguyn l cn phi Gi tr r y0 c ly bng cn phi y2 ca G

Nhn xt:

+ Gi tr r y0 ly theo nguyn l trung bnh s khng ph thuc vo tho mn ca lut iu khin quyt nh nu tp m B' l tp u (hnh 1.17a), cn theo nguyn l cn tri v cn phi, gi tr r y0 Ph thuc tuyn tnh vo tho mn ca lut iu khin quyt nh (hnh 1.17b,c).

25

Hnh 1.18. a) y0 vi cc nguyn tc chn khc nhau

b) Hm lin thuc B c min G khng lin thng

+ Sai lch ca ba gi tr r, xc nh theo nguyn l trung bnh, cn tri hay cn phi s cng ln nu tho mn H ca lut iu khin cng nh (hnh 1.18a). + Khi min G l min khng lin thng s dng phng php cc i s khng chnh xc (hnh 2.18b). + i vi lut hp thnh MAXPROD, min G ch c mt im duy nht, do kt qu gii m theo c 3 nguyn l ging nhau (hnh 1.19).

1.6.2. Phng php im trng tm Gii m theo phng php im trng tm s cho ra kt qu y' l honh ca im trng tm min c bao bi trc honh v ng B(y) (hnh 1.20). Cng thc xc nh y0 theo phng php im trng tm nh sau:

Vi s l min xc nh ca tp m B'.
a) Phng php im trng tm cho lut hp thnh SUM-MIN Gi s c q lut iu khin c trin khai. Khi mi gi tr m B ti u ra ca b iu khin s l tng ca 26

q gi tr m u ra ca tng lut hp thnh. K hiu gi tr m u ra ca lut iu khin th k l BK(y) vi k = 1,2,...,q. Vi quy tc SUM- MIN, hm lin thuc B(x) s l:

sau khi bin i, ta c:

b) Phng php cao S dng cng thc:

Cho c hai lut hp thnh MAX-MIN v SUM-MIN vi thm mt gi thit l mi tp m BK(y) c xp x bng mt cp gi tr (yk, Hk) duy nht (singleton), trong Hk l cao ca BK(y) v yk l mt im mu trong min gi tr ca BK(y)

27

Hnh 1.21. So snh cc phng php gii m

Ch : Tu hnh dng hm lin thuc B m sai khc gia cc phng php gii m c khc nhau. Hnh 1.21 cho bit kt qu cc phng php gii m ng vi mt hm lin thuc B c th.

28

Chng 2

IU KHIN M
2.1. CU TRC CA B IU KHIN M 2.1.1. S khi b iu khin m

Hot ng ca mt b iu khin m ph thuc vo kinh nghim v phng php rt ra kt lun theo t duy ca con ngi sau c ci t vo my tnh trn c s logic m. Mt b iu khin m bao gm 3 khi c bn: Khi m ho, thit b hp thnh v khi gii m. Ngoi ra cn c khi giao din vo v giao din ra (hnh 2.1).

Hnh 2.1. Cc khi chc nng ca b iu khin m

- Khi m ho c chc nng chuyn mi gi tri r ca bin ngn ng u vo thnh vct c s phn t bng s tp m u vo. -Thit b hp thnh m bn cht ca n s trin khai lut hp thnh R c xy dng trn c s lut iu khin. - Khi gii m c nhim v chuyn tp m u ra thnh gi tr r y0 (ng vi mi gi tri r x0 iu khin i tng. - Giao din u vo thc hin vic tng hp v chuyn i tin hiu vo (t tng t sang s), ngoi ra cn c th c thm cc khu ph tr thc hin bi ton ng nh tch phn, vi phn.... - Giao din u ra thc hin chuyn i tn hiu ra (t s sang tng t) iu khin i tng.

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Nguyn tc tng hp mt b iu khin m hon ton da vo nhng phng php ton hc trn c s nh ngha cc bin ngn ng vo/ra v s la chn nhng lut iu khin. Do cc b iu khin m c kh nng x l cc gi tr vo/ra biu din di dng du phy ng vi chnh xc cao nn chng hon ton p ng c cc yu cu ca mt bi ton iu khin "r rng" v "chnh xc"
2.1.2. Phn loi b iu khin m

Cng ging nh iu khin kinh in, b iu khin m c phn loi da trn cc quan im khc nhau: Theo s lng u vo v u ra ta phn ra b iu khin m "Mt vo mt ra" (SISO); "Nhiu vo - mt ra" (MISO); "Nhiu vo - nhiu ra" (MIMO) (hnh 2.2a,b,c).

Hnh 2.2a,b,c. Cc b iu khin m

B iu khin m MIMO rt kh ci t thit b hp thnh. Mt khc, mt b iu khin m c m u ra d dng ci t thnh m b iu khin m ch c mt u ra v vy b iu khin m MIMO ch c ngha v l thuyt, trong thc t khng dng. - Theo bn cht ca tn hiu a vo b iu khin ta phn ra b iu khin m tnh v b iu khin m ng. B iu khin m tnh ch c kh nng x l cc tn hiu hin thi, b iu khin m ng c s tham gia ca cc gi tr o hm hay tch phn ca tn hiu, chng c ng dng cho cc bi ton iu khin ng. B iu khin m tnh ch c kh nng x l cc gi tr tn hiu hin thi. m rng min ng dng ca chng vo cc bi ton iu khin ng, cc khu ng hc cn thit s c ni thm vo b iu khin m tnh nhm cung cp cho b iu khin cc gi tr o hm hay tch phn ca tn hiu. Cng vi nhng khu ng hc b sung ny, b iu khin tnh s tr thnh b iu khin m ng. 30

2.1.3. Cc bc tng hp b iu khin m

Cu trc tng qut ca mt h iu khin m c ch ra trn hnh 2.3.

Hnh 2.3. Cu trc tng qut mt h m

Vi mt min compact X Rn (n l s u vo) cc gi tr vt l ca bin ngn ng u vo v mt ng phi tuyn g(x) tu nhng lin tc cng cc o hm ca n trn X th bao gi cng tn ti mt b iu khin m c bn c quan h:

Sup |y(x) g(x)|<

xX

vi l mt s thc dng bt k cho trc.

iu cho thy k thut iu khin m c th gii quyt c mt bi ton tng hp iu khin (tnh) phi tuyn bt k. tng hp c cc b iu khin m v cho n hot ng mt cch hon thin ta cn thc hin qua cc bc sau: 1- Kho st i tng, t nh ngha tt c cc bin ngn ng vo, ra v min xc nh ca chng. Trong bc ny chng ta cn ch mt s c im c bn ca i tng iu khin nh: i tng bin i nhanh hay chm? c tr hay khng? tnh phi tuyn nhiu hay t?,... y l nhng thng tin rt quan trng quyt nh min xc nh ca cc bin ngn ng u vo, nht l cc bin ng hc (vn tc, gia tc,...). i vi tn hiu bin thin nhanh cn chn min xc nh ca vn tc v gia tc ln v ngc li. 2- M ho cc bin ngn ng vo/ra: Trong bc ny chng ta cn xc nh s lng tp m v hnh dng cc hm lin thuc cho mi bin ngn ng. S lng cc tp m cho mi bin ngn ng c chn tu . Tuy nhin nu chn t qu th vic iu chnh s khng mn, chn nhiu qu s kh khn 31

khi ci t lut hp thnh, qu trnh tnh ton lu, h thng d mt n nh. Hnh dng cc hm lin thuc c th chn hnh tam gic, hnh thang, hm Gaus,... 3- Xy dng cc lut iu khin (mnh hp thnh): y l bc quan trng nht v kh khn nht trong qu trnh thit k b iu khin m. Vic xy dng lut iu khin ph thuc rt nhiu vo tri thc v kinh nghim vn hnh h thng ca cc chuyn gia. Hin nay ta thng s dng mt vi nguyn tc xy dng lut hp thnh h thng lm vic, sau m phng v chnh nh dn cc lut hoc p dng mt s thut ton ti u (c trnh by phn sau). 4- Chn thit b hp thnh (MAX-MIN hoc MAX-PROD hoc SUMMIN hoc SUM-PRROD) v chn nguyn tc gii m (Trung bnh, cn tri, cn phi, im trng tm, cao). 5- Ti u h thng: Sau khi thit k xong b iu khin m, ta cn m hnh ho v m phng h thng kim tra kt qu, ng thi chnh nh li mt s tham s c ch lm vic ti u. Cc tham s c th iu chnh trong bc ny l. Thm, bt lut iu khin; Thay i trng s cc lut; Thay i hnh dng v min xc nh ca cc hm lin thuc.
2.2. B IU KHIN M TNH 2.2.1. Khi nim

B iu khin tnh l b iu khin m c quan h vo/ra y(x), vi x l u vo v y l u ra, theo dng mt phng trnh i s (tuyn tnh hoc phi tuyn). B iu khin m tnh khng xt ti cc yu t "ng" ca i tng (vn tc, gia tc,). Cc b iu khin tnh in hnh l b khuch i P, b iu khin re lay hai v tr, ba v tr,...
2.2.2. Thut ton tng hp mt b iu khin m tnh

Cc bc tng hp b iu khin m tnh v c bn ging cc bc chung tng hp b iu khin m nh trnh by trn. hiu k hn ta xt v d c th sau:
V d: Hy thit k b iu khin m tnh SISO c hm truyn t y = f(x) trong khong x = [a1,a2] tng ng vi y trong khong y [1, 2].

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Bc 1: nh ngha cc tp m vo, ra

- nh ngha N tp m u vo: A1, A2,, An trn khong [a1,a2] ca x c hm lin thuc Ai (x) (i = 1, 2,..., Ni dng hnh tam gic cn. - nh ngha N tp m u ra: B1, B2,, BN trn khong [1, 2] ca y c hm lin thuc Bj(x) (j = 1, 2,..., N) dng hnh tam gic cn.
Bc 2: Xy dng lut iu khin

Vi N hm lin thuc u vo ta s xy dng c N lut iu khin theo cu trc:

Ri: nu = Ai; th = Bi. Bc 3: Chn thit b hp thnh

Gi thit chn nguyn tc trin khai SUM-PROD cho mnh hp thnh, v cng thc Lukasiewicz cho php hp th tp m u ra B khi u vo l mt gi tr r x0 s l:

v Bi(y) l mt hm Kronecker Bi(y)Ai(x0) = Ai(x0) khi :

Bc 4: Chn phng php gii m

Chn phng php cao gii m, ta c:

Quan h truyn t ca b iu khin m c dng:

2.2.3. Tng hp b iu khin m tuyn tnh tng on

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Trong k thut nhiu khi ta cn phi thit k b iu khin m vi c tnh vo - ra cho trc tuyn tnh tng on. Chng hn, cn thit k b iu khin m c c tnh vo - ra nh hnh 2.4. Thut ton tng hp b iu khin ny ging nh thut ton tng hp b iu khin m vi hm truyn t y(x) bt k. Tuy nhin, cc on c tnh thng v ni vi nhau mt cch lin tc ti cc nt th cn tun th mt s nguyn tc sau:
+ Mi gi tri r u vo phi lm tch cc 2 lut iu khin. + Cc hm lin thuc u vo c dng hnh tam gic c nh l mt im nt k, c min xc inh l khong [xk-1, xk+1] (hnh 2.5a).

Hnh 2.4. c tnh vo - ra cho trc + Cc hm lin thuc u ra c dng singleton ti cc im nt yk (hnh 2.5b). + Ci t lut hp thnh Max-Min vi lut iu khin tng qut:
Rk: nu = Ak; th = Bk.

+ Gii m bng phng php cao.

Hnh 2.5 a.b. hm lin thuc ca cc bin ngn ng vo, ra

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2.3. B IU KHIN M NG

B iu khin m ng l b iu khin m m u vo c xt ti cc trng thi ng ca i tng nh vn tc, gia tc, do hm ca gia tc,.... V d i vi h iu khin theo sai lch th u vo ca b iu khin m ngoi tn hiu sai lch e theo thi gian cn c cc o hm ca sai lch gip cho b iu khin phn ng kp thi vi cc bin ng t xut ca i tng. Cc b iu khin m ng hay c dng hin nay l b iu khin m theo lut t l tch phn(PI), t l vi phn (PD) v t l vi tch phn (PID). Mt b iu khin m theo lut I c th thit k t mt b m theo lut P (b iu khin m tuyn tnh) bng cch mc ni tip mt khu tch phn vo trc hoc sau khi m . Do tnh phi tuyn ca h m, nn vic mc khu tch phn trc hay sau h m hon ton khc nhau (hnh 3.2 a,b).

Hnh 2.6a,b. h iu khin m theo lut PI

Khi mc thm mt khu vi phn u vo ca mt b iu khin m theo lut t l s c c mt b iu khin m theo lut t l vi phn PD (hnh 2.4).

Hnh 2.7. h iu khin m theo lut PD

Cc thnh phn ca b iu khin ny cng ging nh b iu khin theo lut PD thng thng bao gm sai lch gia tn hiu ch o v tn hiu ra ca h thng e v o hm ca sai lch e'. Thnh phn vi phn gip cho h 35

thng phn ng chnh xc hn vi nhng bin i ln ca sai lch theo thi gian. Trong k thut iu khin kinh in, b iu khin PID c bit n nh l mt gii php a nng v c min ng dng rng ln. inh ngha v b iu khin theo lut PID kinh in trc y vn c th s dng cho mt b iu khin m theo lut PID. B iu khin m theo lut PID c thit k theo hai thut ton: - Thut ton chnh nh PID; - Thut ton PID tc . B iu khin m c thit k theo thut ton chnh nh PID c 3 u vo gm sai lch e gia tn hiu ch o v tn hiu ra, o hm v tch phn ca sai lch. u ra ca b iu khin m chnh l tn hiu iu khin rt).

Vi thut ton PID tc , b iu khin PID c 3 u vo: sai lch e gia tn hiu u vo v tn hiu ch o, o hm bc nht e' v o hm du ca tn hiu iu bc hai e" ca sai lch. u ra ca h m l o hm dt khin u(t).

Do trong thc t thng c mt hoc hai thnh phn trong (3.6), (3.7) c b qua, nn thay v thit k mt b iu khin PID hon chnh ngi ta li thng tng hp cc b iu khin PI hoc PD.

Hnh 2.8. H iu khin m theo lut PID

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B iu khin PID m c thit k trn c s ca b iu khin PD m bng cch mc ni tip u ra ca b iu khin PD m mt khu tch phn (hnh 2.6). Hin nay c rt nhiu dng cu trc khc nhau ca PID m c nghin cu. Cc dng cu trc ny thng c thit lp trn c s tch b iu chnh PID thnh hai b iu chnh PD v PI (hoc I). Vic phn chia ny ch nhm mc ch thit lp cc h lut cho PD v PI (hoc I) gm hai (hoc 1) bin vo, mt bin ra, thay v phi thit lp 3 bin vo. H lut cho b iu chnh PID m kiu ny thng da trn ma trn do Mac Vicar-whelan xut. Cu trc ny khng lm gim s lut m ch n gin cho vic tnh ton.
2.4. THIT K H IU KHIN M BNG PIIN MM MATLAB 2.4.1. Gii thiu hp cng c lgic m

Hp cng c Lgic m (The Fuzzy Logic Toolbox) l t hp cc hm c xy dng trn nn Matlab gip cho vic thit k, m phng, kim tra v hiu chnh b iu khin m mt cch d dng. thit k b iu khin m trong hp cng c ny, ta c th thc hin thng qua dng lnh hoc thng qua giao din ho. Trong khun kh cun sch ny ch gii thiu nhng thao tc c bn thit k b iu khin m thng qua giao din ho. Phn thit k thng qua dng lnh, ta c th c trong phn "Fuzzy Logic Toolbox" ca Malab.

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Hnh 2. 9

Sau khi c cu trc ca b iu khin m, ta tin hnh son tho cc hm lin thuc vo, hm lin thuc ra, cc lut iu khin.

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Hnh 2.11

Kch p chut vo biu tng Input (Hnh 2.11)Chn Edit, v chn Add MFs hoc Add Custom MF thm hm lin thuc, chn Remov Select MF g b mt hm lin thuc no , nu chn Remov All MFs s g b tt c cc hm lin thuc ca bin chn. Theo mc nh, s hm lin thuc l 3 c dng tam gic, ta c th thay i s lng cng nh hnh dng hm lin thuc. thay i hnh dng mt hm lin thuc no , ta kch chut vo hm , n s chuyn sang mu , sau kch chut vo hp thoi nh ch ra hnh 2.12 chn hm lin thuc mong mun. Trn Range v Display Range ta c nhp cc gi tr v min xc nh v min hin th ca bin ngn ng, mc nh ca cc min l t 0 n 1. Trn Name v Params (hnh 2.12) ta c th t tn v min xc nh cho tng tp m.

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 son tho lut hp thnh, ta n Edit, Rules trn mn hnh hin ra ca s hnh 2.13. Sau mi ln son xong mt lut ta n Add rule xc nhn. thay i mt lut hp thnh ta n Change rule. xo mt lut iu khin ta n Delete rules. Mun quan st hot ng ca cc lut ta n View Rules. n View Surface quan st quan h vo ra ca b iu khin (hnh 2.14a, b). Sau khi thit k xong b iu khin, ta cn t tn v lu chng bng cch n File, Export To Disk ct vo a hoc to Workspase lu vo vng lm vic ca Matlab.

Mun m mt b iu khin m lu trn a, n File, Export To Disk sau n Import from disk, chn file cn m. Sau khi thit k xong b iu khin m bng ca s Edit GUI, ta chuyn v ca s m phng SIMULINK, m mt file mi vi ui '.mat', xy dng m hnh m phng cho h, tin hnh chy m phng v hiu chnh h thng.

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Hnh 2. 14a.b. a) Quan st hot ng ca cc lut

b) Quan h vo-ra ca b iu khin

2.3.2. V d thit k h m

minh ho cho nhng vn trnh by trn, sau y chng ta tin hnh phn tch, thit k b iu khin m iu khin i tng nhit l in tr c hm s truyn l:

Bit in p cp cho l c gi tr nh mc l 230 V. S khi ca h c ch ra trn hnh 2.15.

Hnh 2.15. S khi h iu khin nhit l in tr

Bc 1: Tm hiu h thng

L in tr dng gia nhit chi tit bng kim loi cho cc cng on nh ti, ram... L in tr c nung nng bng dy in tr, ngun in 41

cung cp cho l l ngun p c th iu chnh c. Vic iu khin nhit l c thc hin thng qua iu khin in p cung cp cho l. Trong k thut iu khin, ngi ta m t l bng mt khu qun tnh bc nht c tr c hm s truyn:

Trong , hng s thi gian T v thi gian tr T c gi tri tu vo loi l v cng sut l. B iu khin in p c in p iu chnh c v bin thin trong khong t 100V: 230V, c m t gn ng bng mt khu c hm s truyn: w(s) = ke~2s vi k = 23, ~ = O,05(s). Cm bin nhit c coi l 1 khu t l vi h s:

in p t c gi tr ln nht l 10 V. Khu so snh lm nhim v so snh in p t v in p phn hi ly t u ra ca khi cm bin, u ra ca khu so snh l sai lch e = U ucb. L din tr ni ring, cng nh i tng nhit ni chung thng khng cho php c qu iu chnh, do e bin thin trong khong t 10 n 0.
Bc 2: Chn cc bin ngn ng vo, ra

Gi thit ta iu khin l in tr theo quy lut PI, khi bin ngn ng u vo b iu khin m l sai lch (k hiu l E) v tch phn sai lch (k hiu l TE). u ra b iu khin m l in p (k hiu l U). Min gi tr ca cc bin ngn ng c chn nh sau: E = [010]; TE = [01500]; U = [020]; ngn ng c chn nh hnh 2.16a,b,c hm lin thuc ca cc bin

ET = [E1(x) E2(x) E3(x) E4(x) E5(x)] (hnh 2.16a); TET = [TE1(x) TE2(x) TE3(x) TE4(x) TE5(x)] (hnh 2.16b); UT = [U1(x) U2(x) U3(x) U4(x) U5(x)] (hnh 2.16a); 42

Hnh 2.16a,b,c. Hnh dng cc hm lin thuc u vo v u ra

Bc 3: Xy dng lut hp thnh: Vi 5 tp m ca mi u vo, ta xy dng c 5 x 5 = 25 lut iu khin. Cc lut iu khin ny c xy dng theo 2 nguyn tc sau:

- Sai lch cng ln th tc ng iu khin cng ln. - Tch phn sai lch cng ln th tc ng iu khin cng ln.
R1: R2: R3: R4: R5: R6: R7: R8: R9: R10: R11: R12: R13: R14: R15: R16: R17: R18: R19: R20: R21: R22: R23: R24: R25: Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu Nu E E E E E E E E E E E E E E E E E E E E E E E E E = = = = = = = = = = = = = = = = = = = = = = = = = E1 E2 E3 E4 E5 E1 E2 E3 E4 E5 E1 E2 E3 E4 E5 E1 E2 E3 E4 E5 E1 E2 E3 E4 E5 v v v v v v v v v v v v v v v v v v v v v v v v v TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE TE = = = = = = = = = = = = = = = = = = = = = = = = = TE1 TE1 TE1 TE1 TE1 TE2 TE2 TE2 TE2 TE2 TE3 TE3 TE3 TE3 TE3 TE4 TE4 TE4 TE4 TE4 TE5 TE5 TE5 TE5 TE5 th th th th th th th th th th th th th th th th th th th th th th th th th U U U U U U U U U U U U U U U U U U U U U U U U U = = = = = = = = = = = = = = = = = = = = = = = = = U1 U2 U3 U4 U5 U2 U3 U4 U5 U5 U3 U4 U5 U5 U5 U4 U5 U5 U5 U5 U5 U5 U5 U5 U5 hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc hoc

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Bc 4: Chn lut hp thnh Max-Min, gii m bng phng php trng tm, ta quan st c s tc ng ca cc lut v quan h vo - ra ca b iu khin nh hnh 2.17a,b. Bc 5: M phng h thng: S m phng h thng c ch ra trn hnh 2.18. Kt qu m phng c ch ra trn hnh 2.19.

H'nh 2.17a, b. Quan h vo - Ra ca b iu khin

Hnh 2.18. S m phng h thng

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2.5. H IU KHIN M LAI (F-PID)

H m lai vit tt l F-PID l h iu khin trong thit b iu khin gm 2 thnh phn: Thnh phn iu khin kinh in v thnh phn iu khin m. B iu khin F-PID c th thit lp da trn hai tn hiu l sai lch e(t) v o hm ca n e(t). B iu khin m c c tnh rt tt vng sai lch ln, vi c tnh phi tuyn ca n c th to ra phn ng ng rt nhanh. Khi qu trnh ca h tin gn n im t (sai lch e(t) v o hm ca n e(t) xp xi bng 0) vai tr ca b iu khin m (FLC) b hn ch nn b iu khin s lm vic nh mt b iu chnh PID bnh thng. Trn hnh 2.20 th hin tng thit lp b iu khin m lai F-PID v phn vng tc ng ca chng.

Hnh 2.21. Vng tc ng ca cc b iu khin

S chuyn i gia cc vng tc ng ca FLC v PID c th thc hin nh kho m hoc dng chnh FLC. Nu s chuyn i dng FLC th ngoi nhim v l b iu chnh FLC cn lm nhim v gim st hnh vi ca h thng thc hin s chuyn i. Vic chuyn i tc ng gia FLC v PID c th thc hin nh lut n gin sau: 45

if |e(t) dng ln v | e (t)| dng ln th u l FLC if |e(t) dng nh v | e (t)| dng nh th u l PID
.

(2.8) (2.9)

thc hin chuyn i m gia cc mc FLC v b chuyn i PID, ta c th thit lp nhiu b iu chnh PIDi (i = 1,2... n) m mi b c chn ti u cht lng theo mt ngha no to ra c tnh tt trong 1 vng gii hn ca bin vo (hnh 2.21). Cc b iu chnh ny c chung thng tin u vo v s tc ng ca chng ph thuc vo gi tr u vo. Trong trng hp ny, lut chuyn i c th vit theo h m nh sau:
Nu (trng thi ca h) l Ei th (tn hiu iu khin) = ui

Trong i = 1, 2,..., n; Ei l bin ngn ng ca tn hiu vo, ui l cc hm vi cc tham s ca tc ng iu khin. Nu ti mi vng iu chnh, tc ng iu khin l do b iu chnh PIDi vi:

Nh vy, cc h s ca b iu chnh PIDi mi ph thuc cc tn hiu u vo tng qut hn l ph thuc vo trng thi ca h. Nu coi cc h s Kpi, KDi V Kli chnh l kt qu gii m theo phng php trung bnh trng tm t ba h m hm: H m hm tnh h s Kp vi h lut: Ru(i): if E is Ei and DE is DEi then Kp = Kpi. H m hm tnh h s KD vi h lut: Ru(i): if E is Ei and DE is DEi then KD = KDi. H m hm tnh h s K1 vi h lut: Ru(i): if E is Ei and DE is DEi then KI = KIi.
2.6. H IU KHIN THCH NGHI M 2.6.1. Khi nim a/ nh ngha: H iu khin thch nghi m l h iu khin thch nghi c xy dng trn c s ca h m

(2. 11)

(2. 12)

(2. 13)

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So vi h iu khin thch nghi kinh in, h iu khin thch nghi m c min tham s chnh nh rt ln. Bn cnh cc tham s Kp, TI, TD ging nh b iu khin PID thng thng, b iu khin m ta cn c th chnh nh cc tham s khc nh hm lin thuc, cc lut hp thnh, cc php ton OR, AND, NOT, nguyn l gii m v.v... Trong thc t, h iu khin thch nghi c s dng ngy cng nhiu v n c cc u im ni bt so vi h thng thng. Vi kh nng t chnh nh li cc tham s ca b iu chnh cho ph hp vi i tng cha bit r a h thch nghi m tr thnh mt h iu khin thng minh.
b/ Phn loi

Mt cch tng qut, h iu khin thch nghi m c th phn thnh 2 loi: - B iu khin m t chnh l b iu khin m c kh nng chnh nh cc tham s ca cc tp m (cc hm lin thuc); - B iu khin m t thay i cu trc l b iu khin m c kh nng chnh nh li cc lut iu khin. i vi loi ny h thng c th bt u lm vic vi mt vi lut iu khin c chnh nh trc hoc cha cc lut.
c/ Cc phng php iu khin thch nghi m

Cc b iu khin thch nghi r v m u c mch vng thch nghi c xy dng trn c s ca 2 phng php:

Hnh 2.22. Cu trc phng php iu khin thch nghi trc tip Phng php trc tip (hnh 2.22) thc hin thng qua vic nhn dng thng xuyn cc tham s ca i tng trong h kn. Qu trnh nhn dng 47

thng s ca i tng c th thc hin bng cch thng xuyn o trng thi ca cc tn hiu vo/ra ca i tng v chn 1 thut ton nhn dng hp l, trn c s m hnh i tng bit trc hoc m hnh m; Phng php gin tip (hnh 2.23) thc hin thng qua phim hm mc tiu ca h kn xy dng trn cc ch tiu cht lng. Phim hm mc tiu c th c xy dng trn c s cc ch tiu cht lng ng ca h thng nh qu iu chnh, thi gian qu hay cc ch tiu tch phn sai lch... B iu khin thch nghi m c th chia thnh 2 loi:

Hnh 2.23. Cu trc phng php iu khin thch nghi gin tip
2.6.2. Tng hp b iu khin thch nghi m n nh a. C s l thuyt

Xt 1 h phi tuyn SISO c m t bi phng trnh: y(n) = f(y, y,, y(n-1)) + bu; y = x l bin trng thi. y(n) = f(y) + bu (2.14)

Trong u l u vo, y l u ra, hm phi tuyn f(.) v hng s b c gi thit cha bit, y = [y, y,... y(n-1)]T. Mc tiu l thit k b iu khin m to ra tn hiu iu khin u sao cho tn hiu ra y(t) ca h thng bm theo qu o yd cho trc no . Nu bit trc f(y) v b, ta c th tng hp c b iu khin theo cc phng php kinh in [9], [55], b iu khin c tn hiu u ra l:

48

Cc h s k1, k2, kn c chn sao cho tt c cc nghim ca phng trnh: pn + knpn-1 +... + k1 = 0 nm na tri mt phng phc. Tc l cc nghim pk c phn thc m:

Do c iu kin (2.17) nn nghim ca e(t) chc chn tho mn iu kin:

Ta thy rng bi ton tng hp trn ch c ngha khi bit chnh xc m hnh ton hc ca h thng, hay ni cch khc l trong (2.1) ta bit f(y) v b. iu ny khng ph hp vi nhiu bi ton thc t. V vy mc tiu iu khin ra l phi xc nh b iu khin m u = u(x, ) v lut iu khin vct tham s sao cho tho mn cc iu kin sau: - H kn phi n nh ton cc trong phm vi ca cc bin y(t), u(x, ). (t) ) v

Tc l: |x(t)| Mx < ; | (t)| M0 < ; |u(x, )| Mu < vi mi t 0. Trong Mx, M0, Mu l cc tham s do ngi thit k t ra. - sai lch e = yd - y cng nh cng tt. Khi f(.) v b bit th ta d dng tng hp c b iu khin: 49

Trong , u* c coi l ti u. Nhng v f(.) v b cha bit nn u* khng th thc hin c, ta s thit k b iu khin m xp x ho iu khin ti u ny. Gi thit b iu khin u l t hp 2 b iu khin: B iu khin m uf(x, ) v b iu khin gim st us(x): u = uf+ us (2.20)

Trong uf(x, ) l b iu khin m c cp trong tng kt 2.1.

Tng kt 2.l: Xt mt h logic m MISO c n u vo x v 1 u ra y (x

= (x1, x2,, xn)T Rn v y R). nh ngha Nj tp m Ai jj vi cc hm lin thuc A j bao ph min xc nh ca cc bin ngn ng u vo (j = 1,, n
ij

i l s u vo). Lut iu khin Ru1 ...in c dng:

if e1 = Ai11 and e2 = Ai2 andand = Ain then u = Bi1 ...in (2.21) 2 n trong i1 = 1, 2..., N1;... in = 1, 2,..., Nn l s hm lin thuc cho mi bin u vo, Bi1 ...in l tp m u ra. S dng lut hp thnh PROD, m ho theo ng singleton v gii m bng phng php trung bnh trng tm, ta thu c b iu khin m:

trong (x) l vct hm m c s.

50

Thay (2.20) vo (2.14) ta c:

d n yd T (3.29) ta rt ra: f(x) = -bu * + + KTe thay vo (3.35) n dt

y(n) = -bu* + yd(n) + KTe + b[uf(x, ) + uS(x)]. Sau khi bin i ta c: e(n) = -KTe + b [u* - uf(x, ) - us(x)]. Hoc vit di dng phng trnh trng thi: = Ae + B[u*-uf(x, ) us(x)] Trong : (2.27) (2.26)

1 T e pe. Trong P l ma trn dng i xng 2 c xc nh t phng trnh Lyapunov:

Chn hm Lyapunov V =

ATP + PA = - Q (Q > 0). o hm V ta c:

(2.29)

Thay (2.27), (2.29) vo (2.30) ta c:

ta cn phi tm hm us sao cho V 0. Gi thit ta xc nh c hm fu (x) v hng s bL tho mn iu kin: |f(x)| fu (x) v 0 < bL < b th hm iu khin gim st us(x) c xy dng 51

nh sau:

Trong :

( l 1 hng s c chn bi ngi thit k). V b > 0, sugn(eTPB) c th xc nh, hn na tt c cc thnh phn trong (2.32) c th xc nh c, v vy b iu khin gim st us l hon ton xc nh. Thay (2.32) v (2.19) vo (2.31) v xt cho trng hp I1* = 1 ta c:

vy s dng us theo (2.32) ta lun nhn c V V . T (2.32) ta thy rng us ch xut hin khi khng tho mn iu kin: V
V.

Do vy trong khong sai s nh (ngha l V V ) th ch c b iu khin m uf lm vic cn b iu khin gim st khng lm vic (us = 0). Khi h thng c khuynh hng mt n nh (V > V ) th b iu khin gim st bt u lm vic hng cho V V .
* Nu chn I1 1 th t (2.33) ta cn phi m bo khng ch gii hn ca

vct trng thi m cn phi m bo cho e hi t v 0. Ta khng chn phng n ny v us thng rt ln. Tht vy, t (2.33) ta thy us t l vi gii hn trn ca fu m gii hn ny thng rt ln. Tn hiu iu khin ln c th gy phin phc do c lm tng 52

thm chi ph ph. Bi vy ta chn us lm vic theo kiu gim st. tm lut iu khin thch nghi vct tham s ta thay uf (x, ) =
(x). t * l vct tham s ti u:

Chn hm Lyapunov dng:

Vi l mt hng s dng, ta c:

Gi Pn l ct cui cng ca ma trn P, t (2.28) ta c:

eTpB = To b. (2.37) Thay (2.37) vo(2.36) ta c:

Chn lut thch nghi:

53

th (2.38) tr thnh:

trong : e PBu s 0 y l iu tt nht ta c th t c.

b) Thut ton tng hp b iu khin m thch nghi

tng hp b iu khin m thch nghi, ta c th tin hnh theo 2 bc: Bc 1 l chn cu trc ca b iu khin m, bc 2 l xc nh thch nghi cc vct tham s.
+ Chn cu trc ca b iu khin m

Cu trc ca b iu khin m thch nghi nh hnh 2.24. trong i tng iu khin l 1 h phi tuyn bt k c m t tng qut bng biu thc (2.1). B iu khin m thch nghi c th c nhiu u vo gm sai lch v cc o hm ca chng. Mc ch ca vic thit k b iu khin m l to ra tn hiu iu khin u, sao cho qu o u ra ca i tng (y) bm theo qu o cho trc (yd), cho d c s thay i thng s v cu trc ca i tng.

Hnh 2.24: S cu trc b iu khin m thch nghi

+ Cc bc thc hin thut ton

54

Trong trng hp tng qut, b iu khin m c n u vo, thut ton tng hp c tm tt theo cc bc sau: - Bc 1. Xc nh hm lin thuc ca cc bin ngn ng u vo.

nh ngha min xc nh ca cc thnh phn ej l:

j j , Ch rng, gi tri thc ca ej c th bn ngoi khong min max

j j chn, y , l khong m ej ri vo nhiu nht. min max

Hnh 2.25. Hm lin thuc vi 7 tp m

nh ngha Nj tp m A1j... AnJ trn min
j j , , min max

hm lin thuc

ca cc tp m c th chn l hnh tam gic, hnh thang, hm Gaus, hm sigmoid v.v... Chn hm lin thuc kiu hnh tam gic v hnh thang c u im l n gin, song c nhc im l iu chnh khng trn. Hnh 2.25 l v d v hm lin thuc kiu Gaus gia v kiu sigmoid 2 bn i vi 1 bin ngn ng u vo.

55

- Bc 2. Xy dng b iu khin m u t tch N1... Nn lut sau y:

Lut Ru i1 ...in if e1 = Ai1 and e2 = Ai2 andand en = Ain then u = Bi1 ...in (2.44) 1 2 n Trong i1 = 1, 2..., N1;... in = 1, 2,..., Nn l s hm lin thuc cho mi bin u vo

Bi1 ...in l tp m u ra s c xc inh.

Vic thit k b iu khin m by gi chuyn sang vic xc nh cc thng s Bi1 ...in S dng lut hp thnh PROD, m ho theo ng singleton v gii m bng phng php trung bnh trng tm ta thu c b iu khin m:

trong : (e) l tp hp hm m c s bit.

lu thut ton tng hp hm m c s xe) nh hnh 2.26.

yi1 ...in l im trng tm ca Bi1 ...in chng s c chnh nh theo lut thch
nghi cho ph hp vi i tng. 56

 l mt vct gm tp hp cc yi1 ...in vi i1 = 1... N1;... in = 1 Nn

Cc thng s e c chnh nh nh s dng lut thch nghi sau:

Trong l 1 hng s dng xc inh tc ca thut ton cn pn l ct cui cng ca ma trn P, vi P l nghim ca phng trnh Lyapunov. ATP + pa = -Q trong Q l ma trn dng xc nh tu , A l ma trn (n x n) (2.50)

Hnh 2.26. Lu thut ton tng hp hm m c s (e)

vi cc hng s k1, k2 c chn sao cho tt c cc nghim ca phng trnh: Pn + knPn-1 +... + k1 = 0 nm bn na tri mt phng phc. Vi cch tng hp nh vy h thng chc chn tho mn iu kin Lim e(t) = 0 .
t

57

T cc tp m u vo (2.41)... (2.43) v cc thng s . Pn c xc nh trn ta tin hnh xy dng b iu khin m theo trnh t sau: - nh ngha cc hm lin thuc (2.41)... (2.43). - Xy dng hm m c s s (2.47). - Xc inh lut thch nghi - Xy dng b iu khin (2.46).
Ch :

- H s y trong (2.49) ni ln tc hi t ca thut ton thch nghi. N c chn v sau c kim nghim thng qua m phng, nu y chn qu nh thut ton thch nghi hi t chm, y chn ln, qu trnh hi t nhanh nhng nu y chn qu ln h thng s mt n nh. - Cc gi tr P1, P2 c Xc nh t phng trnh Lyapunov (2.40), Tuy nhin ln ca n cng nh hng ng k n cht lng ca h thng. V vy sau khi thit k xong cn chnh nh li cc gi tr ca chng sao cho m bo cht lng tt trong ton di thay i ca cc thng s ca i tng.
2.7. TNG HP B IU KHIN M THCH NGHI TRN C S L THUYT THCH NGHI KINH IN 2.7.1. t vn

Mt cu trc thng dng nht ca h iu khin logic m (FLC - Fuzzy Logic Control) l cu trc kiu phn hi sai lch. S nh hnh 2.27. Trong k1, l cc h s khuch i u vo, K l h s khuch i u ra. Thc tin cho thy vic chnh nh FLC kh khn hn nhiu so vi chnh nh b iu khin kinh in, mt trong nhng l do chnh l tnh mm do ca vng nhn bit c bn ca b iu khin m v s mc ni cc thng s ca chng. Tuy nhin khng c mt cch h thng ho no a ra tt c nhng thng s ny.

58

Hnh 2.27. Cu trc c bn ca b iu khin m 2 u vo

Hin nay trong cng nghip cc b iu khin logic m (FLC) thng c thit k theo kinh nghim v s hiu bit nh tnh i tng ca cc chuyn gia. Vic chnh nh FLC c thc hin thng qua chnh nh cc hm lin thuc u vo v u ra v mang nhiu tnh cht "m mm". Do khng ph hp cho vic chun ho cht lng v kh tr thnh mt phng php lun c h thng. Trong mc ny chng ta s tip cn kiu thit k hn hp theo hng kt hp c hai cch tip cn nh tnh v tip cn nh lng. u tin ta xy dng m hnh c bn ca b iu khin m bao gm cc hm lin thuc v cc lut hp thnh, chng c th to ra mt p ng hp l mt mc no . Lut hp thnh c bn c chn l mt lut hp thnh tuyn tnh, cn hm lin thuc c th c xc nh theo hnh tam gic, hnh thang hoc hm Gaus. Sau khi xc nh c hm lin thuc v lut hp thnh c bn, ta s dng chng tm ra h s khuch i t l. C th s dng nhiu phng php nh lng khc nhau, vic xc nh cc h s khuch i t l ng rt quan trng i vi s hot ng ca FLC. Trong iu khin kinh in, ta bit mt Algorithm iu khin thch nghi theo m hnh mu s dng phng php gradient hay phng php Lyapunov rt thch hp cho vic iu khin mt qu trnh khng nhn bit c, c bit i vi h phi tuyn. Mt b iu khin m vi mt lut hp thnh tuyn tnh v cc hm lin hp thuc tam gic c th xp x tuyn tnh xung quanh trng thi cn bng. Do ta s dng tng ca b iu khin thch nghi kinh in p dng cho b iu khin m thch nghi vi mt vi s xp x no . Mc tiu chnh ca mc ny l: Tm ra cch tip cn nh lng xc nh m hnh ton hc ca b iu khin m vi mt vi s xp x no . Xy dng b iu khin m thch nghi cho nhng h thng phi tuyn v h thng bin i theo thi gian trn c s l thuyt thch nghi kinh in. B iu khin ny c th s dng iu khin i tng nh l b thch 59

nghi trc tuyn, hoc dng lm c s cho vic tng hp b iu khin m thng thng. n gin ta tin hnh xy dng c ch thch nghi cho b iu khin m hai u vo t kt qu c th d dng m rng cho nhng b iu khin m c nhiu u vo khc. Cu trc ca cc b iu khin m thch nghi da trn c s l thuyt Lyapunov v phng php Gradien kinh in.
2.7.2. M hnh ton hc ca b iu khin m

Xt b iu khin m hai u vo nh hnh 2.27. xy dng m hnh ton hc ca n ta thc hin theo cc bc sau:
a/ Chn cc hm lin thuc

Cc tp m u vo c chn m ho l E v R. Ta chn s lng cc tp m vo v ra bng nhau v bng N, cc hm lin thuc s b chn hnh tam gic vi mi hm lin thuc bao ph khng gian trng thi 2A cho mi u vo v 2B cho u ra. Gi s chn j hm lin thuc m cho E, R, U, chn j hm lin thuc dng cho E, R, U v 1 hm lin thuc bng zero cho E, R, U (hnh 2.28). Nh vy s lng cc hm lin thuc ca mi bin vo/ra l: N = 2j + 1. n gin cho vic xy dng lut hp thnh, thay v s dng cc ngn ng nh "m nhiu", "dng nhiu" v.v... ta s dng cc ch s l s, v d -1 (x), -2(x), -0(x), 1 (x) Ta thy rng, mc du s dng cc hm lin thuc ging nhau m t 2 tp m u vo nhng thng qua cc h s k1 v (hnh 2.27) chng thc s l cc hm lin thuc khc nhau.

Hnh 2.28. Minh ho vic nh ngha hm lin thuc

cho cc bin u vo v u ra 60

b/ Chn lut iu khin

Vi b iu khin m 2 u vo, mi u vo c N tp m ta s c N2 lut iu khin miu t tt c cc kh nng kt hp ca Ei v Rj Dng tng qut ca lut hp thnh l:
Nu E = Ei v R = Rj th U = uk Vi k = f(i, j) nh ngha 1: Cc lut iu khin ca mt b iu khin m c gi l tuyn tnh nu f(i,j) l 1 hm tuyn tnh i vi i v j.

V d: f = i + j; f = I + j + 1 vv
Trong f(i, j) l quy lut sinh ra cc lut iu khin. Vi cc f(i, j) khc nhau s cho cc lut iu khin khc nhau. Vic chn lut iu khin c th coi l mt ngh thut v ph thuc rt nhiu vo kin thc v kinh nghim ca cc chuyn gia. Trong mc ny tc gi cp n vic chun ha v n gin ha vic chn lut iu khin nhm to iu kin thun li cho ngi thit k h iu khin m.

Hnh 2.29 minh ho lut iu khin tuyn tnh vi f(i,j) = i +j cho b iu khin m 2 u vo 1 u ra vi 7 hm lin thuc cho mi bin vo v ra. Bng 2.1 v Hnh 2.30 l quan h vo-ra ca lut hp thnh tuyn tnh.

Bng 2.1
I+j Uk-l -3 3 -2 2 1 -1 0 0 1 1 2 2 3 3

inh ngha 2: B iu khin m c s (Basis Fuzzy Controll - BFC) l b iu khin m c 2 u vo v 1 u ra, s tp m ca cc u vo v u ra bng nhau, lut hp thnh c s dng l lut hp thnh tuyn tnh c/ Phn tch lut c s thnh suy lun

61

Cc lut c s chia vng lm vic ca b iu khin m c bn thnh nhiu vung, vi u ra ca lut trn 4 gc nh hnh 2.29. V tt c cc thao tc m u c th c tnh ton trn cc ny nn chng c gi l suy lun [33], [55]. Mt cch tng qut ta c th chn suy lun IC(i, j) phn tch. ny c to bi cc hm lin thuc i(E), i+1(E), j(R) v j+1(R) cc ng cho ca chia chng ra thnh 4 vng (ICI... IC4) (hnh 2.3 l). Vi tr tuyt i ca 1 suy lun IC(i, j) trong lut c bn l t [iA, jA] n [(i+1)A,, (j + 1)A], v tr tng i ca mi vng trong IC(i,j) l t [0, 0] n [A, A]. Cc d liu vo (E, R) trong lut c bn lun lun c nh x n d liu vo tng i (e*, r* trong IC(i, j) theo cng thc [22]:

Tt c nhng thao tc m bao gm "M ho", "suy din m" v "gii m" u c th c thc hin trong suy lun IC.

62

Hnh 2.29. S hnh thnh suy lun t lut hp thnh

d/ Cc thao tc m trong suy lun

Trong suy lun ta c th thc hin cc thao tc m nh: M ho, suy din m v gii m. S dng phng php suy lun Max-Min ca Mamdani, cc thao tc c trnh by nh sau:

+ M ho: T cc biu thc (2.52) v (2.53) ta thy trong mt IC(i,j) cc u vo (E, R) c xc nh bi (e*, r*) vi cc gi tr hm lin thuc ca e* l i v i+1, cc gi tr hm lin thuc ca r* l i v i+1
V lun tn ti quan h: i + i+1 = 1; j v j+1 = 1 do gi tr cc hm lin thuc u vo trong suy lun:

63

+ Suy din m

T lut hp thnh c s: Nu E = Ei v R = Rj th U = uk vi k = f(i,j) = i + j. (2.55)

Hm lin thuc ca cc tp m u ra c biu din trong Hnh 2.29 vi gi tr u ra l: uk = k.B. (2.56)

Ti mi vng ca suy lun ta thu c cc gi tr 1, 2, 3 (bng 2.2) thng qua php ly Max-min [21] vi:

+ Gii m

Dng phng php trung bnh trng tm [20] ta c tn hiu ra:

64

trong I = 1, 2, 3, 4 l cc vng tng ng ca suy lun. e/ Xy dng biu thc ton hc ca b iu khin m Qua cc phn tch trn ta thy rng cc tn hiu vo khc nhau (e*, r*) c th ri trn cc vng khc nhau ca suy lun t IC1 - IC4, l do kt qu ca php ly Max- min.

+ Xt vng IC1:
T (2.54) v bng 2.2 ta c:

T bng (2.2), (2.54) v (2.58) ta c:

T ta rt ra:

Tng t vi cc suy lun khc, cui cng ta thu c [10]: 65

1 (I = 1, 2, 3, 4) l tham s phi tuyn trong vng IC1. Ta thy iu khin m vi lut hp thnh tuyn tnh thc s l iu khin phi tuyn nh biu thc (2.61). N s tr thnh iu khin tuyn tnh trng thi cn bng. Trong biu thc (2.61) ta cn phi xc nh cc h s khuch i t l u vo k1, v u ra K. Gi tr danh nh ca cc h s khuch i u vo k1 v c th c xc nh theo phng php ca H.X. Li [10]. Thng thng vic xc nh h s khuch i u ra K ng l rt kh khn.
2.7.3. Xy dng c cu thch nghi cho b iu khin m a/ H iu khin thch nghi theo m hnh mu (MRAS) dng l thuyt thch nghi kinh in

Xt mt i tng iu khin c m t bi phng trnh:

M hnh mu c phng trnh:

Tn hiu iu khin:

vi sai s: = y ym

Biu thc cha tham s iu chnh. Ta cn tm ra c cu thch nghi iu chnh cc tham s l v 2 ti gi tr mong mun sao cho sai s tin ti 0. tm ra c cu thch nghi ny ta c th dng l thuyt n nh Lyapunov 66

hoc phng php Gradient theo cc b sau:

B 2.1: (lut thch nghi theo Lyapunov)

Gi thit b > 0 v v chn hm Lyapunov c dng:

th quy lut iu chnh cc tham s l, 2 cho 0 l:

Nu ch c 1 tham s bin thin, lut iu chnh thch nghi tham s tr thnh:

B 2.2: (Lut thch nghi theo Gradient)

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

th quy lut iu chnh theo hng ca gradient ca J l:

Trong iu khin thch nghi kinh in, ni chung khng cn mt m hnh mu hon ho, tuy nhin s sai khc gia m hnh v i tng cng nh tnh phi tuyn ca n ch nm trong gii hn no , nu qu gii hn ny b iu chnh s khng lm vic hiu qu na. khc phc nhc im , trong cun sch ny cc tc gi xut s dng h iu khin m thch nghi theo m hnh.
b/ iu chnh thch nghi h s khuch i u ra ca b iu khin m

Tn hiu u ra ca b iu khin m (2.60) c vit: 67

B iu khin m 2 u vo trong biu thc (2.60) vi h s khuch i u ra K, c th c biu din nh l F. e cng thm 1 gii hn tr T nh biu thc (2.69) (hnh 2.31) gii hn tr T s tin ti zero khi h thng tin n im cn bng [11], [12].

Hnh 2.31. S khi b iu khin m vi h s khuch i u ra K

Ta s p dng phng php Lyapunov v phng php Gradient chnh nh thch nghi h s khuch i u ra K ca b iu khin m. Qu trnh iu chnh c thc hin theo 2 cu trc chnh c gi chung l iu khin thch nghi m theo m hnh mu (MRAFC) (Model Reference Adaptive Fuzzy Controller). Ta tin hnh kho st 2 s l s phn hi u ra v s iu khin thch nghi m theo m hnh hiu chnh trc (FMRAFC) (Feedfonvard Model Reference Adaptive Fuzzy Controller).
c/ S o iu khin thch nghi m theo m hnh mu (MRAFC)

Xt mt cu trc iu khin m thch nghi theo m hnh c biu din trn hnh 2.32 [19], [20]. Trong : i tng iu khin c hm s truyn G, m hnh mu c hm truyn Gm, b iu khin m bao gm b iu khin m c bn kt hp vi b khuch i K. Cn phi tm ra quy lut chnh nh h s K sao cho sai 68

lch gia m hnh v i tng tin n 0 ( 0).

Xp x 1 trong (2.61) thnh mt hng s, h thng vng kn xung quanh trng thi cn bng tr thnh tuyn tnh vi phng trnh ca vng kn l:

KFG Gm . Khi quy 1 + KFG lut iu chnh thch nghi cho h s khuch i u ra ca FLC c th xc nh t (2.68) l:
Gi thit y tin n ym th ta c th xp x .

xt n nh ca s trn, ta chn hm Lyapunov:

d/ S iu khin thch nghi m kiu truyn thng (FMRAFC)

Mt cu trc khc ca b iu khin thch nghi m c biu din trn 69

hnh 2.33 s ny gi l s thch nghi m truyn thng (Feedforward Model Reference Adaptive Fuzzy Controller - FMRAFC) [ 11]. Trong s ny sai lch gia tn hiu t v tin hiu u ra ca i tng c thay th bng gi tr sai lch gia i tng v m hnh

trong : +KFG) 1.

ym = v gi thit rng khi y tin n ym th KFG/(1 1 + KFG

T (2.68) ta rt ra quy lut thch nghi cho h s khuch i u ra l:

Ta thy do hm truyn ca m hnh khng c mt lut thch nghi (2.73) v (2.74) nn cu trc thch nghi ny chu ng tt i vi gii hn ln sai lch gia m hnh v i tng. Trong thc t n ch cn mt m hnh xp x bm gn ng v d m hnh mu bc nht: Gm = cng c th p dng am + S cho phn ln cc i tng iu khin.
2.7.4. Mt s ng dng iu khin cc i tng cng nghip

70

Mc ch ca phn ny l thng qua m phng trnh by tnh hiu qu ca b iu khin thch nghi m c tng hp trn c s l thuyt iu khin thch nghi kinh in. ng thi thng qua (MRAFC) ta xc nh c h s khuch i u ra cho b iu khin m, lm c s cho vic xy dng thut ton tng hp b iu khin m. Cc ng dng c xy dng cho 3 lp i tng in hnh trong cng nghip: i tng tuyn tnh bc hai trong c khu tch phn c m t bi:

i tng tuyn tnh bc 3 vi nhng tham s khng bit, c cho bi cu trc gn ng sau?

Mt i tng phi tuyn vi cc thng s bin thin theo thi gian c m t gn ng bng phng trnh:

Hnh 2.34. S cu trc h MRAFC vi lut iu khin theo Lyapunov M hnh mu l khu qun tnh bc nht c hm truyn:

vi am = bm = 1. Tn hiu t UC l sng hnh vung. 71

S cu trc h MRAFC vi lut iu khin theo Lyapunov c biu din trn hnh 2.34 v theo Gradient c biu din trn hnh 2.35.

a/ Kt qu m phng

Cc kt qu m phng c ch ra trn cc hnh t hnh 2.36 n hnh 2.44. tin so snh ta a ra p ng tng ng vi 3 cu trc MRAC, FMRAFC theo Lyapunov v FMRAFC theo Phng php Gradient.
b/ Nhn xt

T kt qu m phng trn ta rt ra mt s nhn xt sau: p ng ca h FMRAFC theo phng php Lyapunov v phng php Gradient gn ging nhau v c biu din trn cc hnh t hnh 2.36 n hnh 2.41. Ta thy: i vi i tng tuyn tnh bc hai c khu tch phn p ng ca FMRAFC trong hnh 2.36 v hnh 2.37 t cht lng ng tt, qu trnh lm vic s bm theo m hnh mt cch nhanh chng. i vi i tng tuyn tnh bc 3 p ng ca FMRAFC trong hnh 2.38 v hnh 2.39 gn ging vi i tng bc nht. i vi i tng khng tuyn tnh bin i theo thi gian, p ng ca FMRAFC hnh 2.40 v hnh 2.41 khng thay i nhiu so vi i tng bc 2. Vy h iu khin thch nghi m (MRAFC) c th t c p ng tt hn rt nhiu so vi h iu khin thch nghi kinh in (MRAC), c bit cho 72

nhng i tng bin i theo thi gian v khng m hnh ho c. Bn cnh ch ra kh nng to ln ca b iu khin m thch nghi lm vic vi cc qu trnh khng nhn bit c. T nhng kt qu trn, ta c th tip tc pht trin theo hng ny xy dng cc b iu khin m t chnh trc tuyn m c th t c p ng ti u mt cch t ng cho mt gii hn rng hn cc qu trnh.

Hnh 2.36: p ng ca FMRAFC vi lp i tng bc hai trong c khu tch phn theo Liapunov ng vi 2 gi tr ca K= 2; 5 v T = 0,1; 0,3

Hnh 2.37: p ng ca FMRAFC vi lp i tng bc hai trong c khu tch phn theo Gradient ng vi K=2; 5 v T=0,2; 0,3

Hnh 2.38: p ng ca FMRAFC vi lp i tng bc 3 theo Liapunov ng vi K= 2; 5; T1=0,003; 0,005 v T2 = 0,1; 0,5

Hnh 2.39: p ng ca FMRAFC vi lp i tng bc 3 theo Gradient ng vi K=2; 5; T1=0,003; 0,005 v T2 = 0,1; 0,5

73

Hnh 2.40: p ng h FMRAFC vi i tng phi tuyn theo Liapunov

Hnh 2.41: p ng ca FMRAFC vi i tng phi tuyn theo Gradient

74

Chng 3

TNG QUAN V MNG NRON

3.1. NRON SINH HC 3.1.1. Chc nng, t chc v hot ng ca b no con ngi

B no ngi c chc nng ht sc quan trng trong i sng ca con ngi. N gn nh kim sot hu ht mi hnh vi ca con ngi t cc hot ng c bp n gin n nhng hot ng phc tp nh hc tp, nh, suy lun, t duy, sng to,... B no ngi c hnh thnh t s lin kt ca khong 1011 phn t (t bo), trong c khong 1010 phn t l nron, s cn li khong 9*1010 phn t l cc t bo thn kinh m v chng c nhim v phc v cng nh h tr cho cc nron. Thng thng mt b no trung bnh cn nng khong 1,5 kg v c th tch l 235 cm3, cho n nay ngi ta vn cha thc s bit r cu to chi tit ca b no. Tuy vy v i th th cu to no b c phn chia ra thnh nhiu vng khc nhau. Mi vng c th kim sot mt hay nhiu hot ng ca con ngi. B no c cu trc nhiu lp. Lp bn ngoi thng thy nh l cc np nhn, l lp c cu to phc tp nht. y l ni kim sot v pht sinh cc hnh ng phc tp nh nghe, nhn, t duy,... Hot ng ca b no ni ring v ca h thn kinh ni chung c con ngi quan tm nghin cu t lu nhng cho n nay ngi ta vn cha hiu r thc s v hot ng ca b no v h thn kinh. c bit l trong cc hot ng lin quan n tr c nh suy ngh, nh, sng to,... Tuy th cho n nay, ngi ta cng c nhng hiu bit cn bn v hot ng cp thp ca no. Mi nron lin kt vi khong 104 nron khc, cho nn khi hot ng th b no hot ng mt cch tng lc v t hiu qu cao. Ni mt cch khc l cc phn t ca no hot ng mt cch song song v tng tc ht sc tinh vi phc tp, hiu qu hot ng thng rt cao, nht l trong cc vn phc tp, v tc x l ca b no ngi rt nhanh mc d tc x l ca 75

mi nron (c th xem nh phn t x l hay phn t tnh) l rt chm so vi x l ca cc cng logic silicon trong cc chp vi x l (10-3 giy so vi 1 0-10 giy). Hot ng ca c h thng thn kinh bao gm no b v cc gic quan nh sau: Trc ht con ngi b kch thch bi gic quan t bn ngoi hoc trong c th. S kch thch c bin thnh cc xung in bi chnh cc gic quan tip nhn kch thch. Nhng tn hiu ny c chuyn v trung ng thn kinh l no b x l. Trong thc t no b lin tc nhn thng tin x l, nh gi v so snh vi thng tin lu tr a ra cc quyt nh thch ng. Nhng mnh lnh cn thit c pht sinh v gi n nhng b phn thi hnh thch hp nh cc c tay, chn,... Nhng b phn thi hnh bin nhng xung in thnh d liu xut ca h thng.
Tm li: b no ngi c chc nng ht sc quan trng i vi i sng ca con ngi. Cu to ca n rt phc tp, tinh vi bi c to thnh t mng nron c hng chc t t bo vi mc lin kt gia cc nron l rt cao. Hn na, n cn c chia thnh cc vng v cc lp khc nhau. B no hot ng da trn c ch hot ng song song ca cc nghn to nn n. 3.1.2. Mng nron sinh hc a/ Cu to

Nron l phn t c bn to nn b no con ngi. S cu to ca mt nron sinh hc c ch ra nh trong hnh 3.1. Mt nron in hnh c 3 phn chnh:

Hnh 3.1. M hnh 2 nron sinh hc 76

- Thn nron (so ma): Nhn ca nron c t y. - Cc nhnh (dendrite): y chnh l cc mng dng cy ca cc dy thn kinh ni cc soma vi nhau.

- Si trc (Axon): y l mt ni kt, hnh tr di v mang cc tn hiu t ra ngoi. Phn cui ca axon c chia thnh nhiu nhnh nh (c ca dendrite v axon) kt thc trong mt c quan nh hnh c hnh c gi l synapte m ti y cc nron a cc tn hiu ca n vo cc nron khc. Nhng im tip nhn vi cc synapte trn cc nron khc c th cc dendrite hay chnh soma.
b/ Hot ng

Cc tn hiu a ra bi mt synapte v c nhn bi cc dendrite l cc kch thch in t. Vic truyn tn hiu nh trn lin quan n mt qu trnh ha hc phc tp m trong cc cht truyn c trng c gii phng t pha gi ca ni tip ni. iu ny lm tng hay gim in th bn trong thn ca nron nhn. Nron nhn tn hiu s kch hot (fire) nu in th vt khi mt ngng no v mt xung (hoc in th hot ng) vi mnh (cng ) v thi gian tn ti c nh c gi ra ngoi thng qua axon ti phn nhnh ca n ri ti cc ch ni synapte vi cc nron khc. Sau khi kch hot, nron s ch trong mt khong thi gian c gi l chu k, trc khi n c th c kch hot li. Synapses l Hng phn (excitatory) nu chng cho php cc kch thch truyn qua gy ra tnh.trng kch hot (fire) i vi nron nhn. Ngc li, chng l c ch (inhibitory) nu cc kch thch truyn qua lm ngn tr trng thi kch hot (fire) ca nron nhn.
3.2. MNG NRON NHN TO 3.2.1. Khi nim

Nron nhn to l s sao chp nron sinh hc ca no ngi, n c nhng c tnh sau: - Mi nron c mt s u vo, nhng kt ni (Synaptic) v mt u ra (axon) - Mt nron c th hot ng (+35 mV) hoc khng hot ng (-0,75 mV) 77

- Ch c mt u ra duy nht ca mt nron c ni vi cc u vo khc nhau ca nron khc. iu kin nron c kch hot hay khng kch hot ch ph thuc nhng u vo hin thi ca chnh n. Mt nron tr nn tch cc nu u vo ca n vt qua ngng mt mc nht nh.. C nhiu kiu nron nhn to khc nhau. Hnh 3.2 biu din mt kiu rt n gin. Cc u vo c hm trng Wj v b tng. u ra ca b tng c s dng quyt nh mt gi tr ca u ra thng qua hm chuyn. C nhiu kiu hm chuyn khc nhau (s c cp phn sau). Tng t nron sinh hc ca con ngi, nron s c kch hot nu tng gi tr vo vt qu ngng v khng c kch hot nu tng gi tr vo thp hn ngng. S lm vic nh vy ca nron gi l s kch hot nhy bc.

Hnh 3.2. M hnh nron n gin

Hnh 3.3. Mng nron 3 lp Kt ni mt vi nron ta c mng nron. Hnh 3.3 l mt mng nron gm 3 lp: lp vo, lp n v lp ra. Cc nron lp vo trc tip nhn tn hiu u vo, mi nron ch c mt tn hiu vo. Mi nron lp n c ni vi tt c cc nron lp vo v lp ra. Cc nron lp ra c u vo c ni vi tt c cc nron 78

lp n, chng l u ra ca mng. Cn ch rng mt mng nron cng c th c nhiu lp n. Cc mng nron trong mi nron ch c lin h vi tt c cc nron lp k tip v tt c cc mi lin kt ch c xy dng t tri sang phi c gi l mng nhiu lp truyn thng (perceptrons). Thng thng mng nron c iu chnh hoc c hun luyn hng cc u vo ring bit n ch u ra. Cu trc hun luyn mng c ch ra trn hnh 3.4. y, hm trng ca mng c iu chnh trn c s so snh u ra vi ch mong mun (taget) cho ti khi u ra mng ph hp vi ch. Nhng cp vo/ch (input/taget) c dng gim st cho s hun luyn mng. c c mt s cp vo/ra, mi gi tr vo c gi n mng v gi tr ra tng ng c thc hin bng mng l s xem xt v so snh vi gi tr mong mun. Bnh thng tn ti mt sai s bi l gi tr mong mun khng hon ton ph hp vi gi tr thc. Sau mt ln chy, ta c tng bnh phng ca tt c cc sai s. Sai s ny c s dng xc nh cc hm trng mi.

Hnh 3.4. Cu trc hun luyn mng nron Sau mi ln chy, hm trng ca mng c sa i vi c tnh tt hn tng ng vi c tnh mong mun. Tng cp gi tr vo/ra phi c kim tra v trng lng c iu chnh mt vi ln. S thay i cc hm trng ca mng c dng li nu tng cc bnh phng sai s nh hn mt gi tri t trc hoc chy mt s ln chy xc nh (trong trng hp ny mng c th khng tho mn yu cu t ra do sai lch cn cao). C 2 phng php c bn hun luyn mng nron: Hun luyn gia tng (tin dn) v hun luyn theo gi. S hun luyn theo gi ca mng nhn c bng vic thay i hm trng v dc trong mt tp (batch) ca vct u vo. Hun luyn tin dn l thay i hm trng v dc ca 79

mng sau mi ln xut hin ca mt phn t vct u vo. Hun luyn tin dn i khi c xem nh hun luyn trc tuyn hay hun luyn thch nghi. Mng nron c hun luyn thc hin nhng hm phc tp trong nhiu lnh vc ng dng khc nhau nh trong nhn dng, phn loi sn phm, x l ting ni, ch vit v iu khin h thng. Thng thng hun luyn mng nron, ngi ta s dng phng php hun luyn c gim st, nhng cng c mng thu c t s hun luyn khng c gim st. Mng hun luyn khng gim st c th c s dng trong trng hp ring xc inh nhm d liu. Mng nron bt u xut hin t 50 nm nhng mi chi tm thy cc ng dng t khong 10 nm tr li y v vn ang pht trin nhanh chng. Nh vy, r rng c s khc bit vi nhng h thng iu khin hoc ti u ho, ni m cc thut ng, c s ton hc v th tc thit k c thit lp chc chn v c ng dng t nhiu nm.
3.2.2. M hnh nron a/ Nron n gin: mt nron vi mt u vo v hng v khng c dc c ch ra trn hnh 1.5a,b.

Hnh 3.5a,b. M hnh nron n gin Tn hiu vo v hng p thng qua trng lin kt v hng w tr thnh wp cng l i lng v hng. y wp l i s duy nht ca hm truyn f, tn hiu u ra l i lng v hng a. Hnh l.5b l nron c dc b. Ta c th hiu b nh l php cng n gin vo tch wp hoc nh l mt s thng ging ca hm f hnh a i mt lng b. dc c xem nh mt trng lng, ch c iu u vo l mt hng s bng 1. Tn hiu vo hm truyn mng l n l tng ca trng u vo wp v c b, p ng ra a 80

c coi l i s ca hm chuyn f. Hm chuyn f c th l hm bc nhy, hm sigmoid... Hnh 3.6 di y gii thiu mt s dng hm chuyn ca nron.

Hnh 3.6. Mt s dng hm chuyn ca mng nron Ch rng w v b u l cc tham s iu chnh v hng ca nron. tng c bn ca mng nron iu chnh cc tham s ny nh th no mng t c mt ch mong mun hay mt hnh vi no . Nh vy ta c th hun luyn mng lm mt cng vic no bng cch iu chnh cc trng lin kt v dc, hoc mng c th t iu chnh cc tham s ny t c cc kt qu mong mun.
Ch :

- Tt c cc nron u cho sn mt dc (b), tuy nhin chng ta c th b i khi cn thit. - dc b l mt tham s iu chnh v hng ca nron, n khng phi l mt u vo, song hng s 1 phi dc xem nh u vo v n cn c coi nh vy khi xem xt ph thuc tuyn tnh ca cc vc l u vo. b/ Nron vi nhiu u vo (vc t vo) Nron vi vct vo gm R phn t c chi ra trn hnh 3.7. Trong cc u vo l p1, p2,, pR c nhn vi cc trng lin kt w1,1, w1,2, w1,R cc trng lin kt c biu din bng ma trn hng, vct p l ma trn ct, khi ta c:

81

Trong W l ma trn trng lin kt c kch thc 1 x R, P l vct vo gm R phn t. Cch biu din trn s rt kh khn khi m t mng gm nhiu nron v c nhiu lp. n gin ta s dng k hiu nh hnh 3.8. Trong vct u vo c biu din bi thanh m bn tri. Kch thc ca p c ch ra bn di k hiu p l R x 1.(ta s dng ch vit hoa R ch kch thc ca mt vct). Nh vy p l mt vct gm R phn t vo, cc u vo ny nhn vi ma trn W (1xR). Ging nh phn trn, y hng s 1 a vo nron nh mt u vo v c nhn vi dc b. Hm chuyn ca mng l f. u vo hm chuyn l n bng tng ca dc b v tch Wp. Tng ny c i qua hm chuyn f c u ra ca nron l a. Trong trng hp ny a l mt i lng v hng. Ch rng nu c t 2 nron tr ln th u ra s l mt vct.

Hnh 3.9. mt s hm chuyn thng dng Mt lp mng c nh ngha nh hnh 3.8, l s kt hp gia cc trng lin kt, php nhn, php cng, dc b v hm chuyn f. Trong kch thc ca ma trn c ch r bn di tn bin ma trn ca chng. Khi mt hm chuyn c th c s dng th trn hnh v biu tng ca hm chuyn s thay th f trn. Hnh 3.9 l mt vi v d v cc hm 82

chuyn thng dng.

3.3. CU TRC MNG

Nhiu nron kt hp vi nhau to thnh mng nghn, mng nron c th c mt lp hoc nhiu lp.
3.3.1. Mng mt lp

Mt cu trc mng 1 lp vi R u vo v S nron c ch ra trn hnh 3.10. Trong : - Vc t vo p c R phn t pT = [p1 p2... PR]. - Vct vo n c s phn t nT = [n1 n2... ns]. - Vct vo a c s phn t aT = [a1 a2... as]. Trong mng ny mi phn t ca vct vo p lin h vi u vo mi nron thng qua ma trn trng lin kt W. B cng ca nron th i thu thp cc trng lin kt u vo v dc to thnh mt u ra v hng n;. Cc ni tp hp vi nhau to thnh s phn t ca vct vo n. Cui cng lp ra nron ta thu c vct a gm s phn t.
Ch : Nhn chung s u vo ca mt lp khc vi s nron, tc l R S. Trong mt lp, khng bt buc phi c s u vo bng s nron ca n.

Hnh 3.10. Cu trc mng nron 1 83

Ta c th thit lp lp n ca cc nron c cc hm chuyn khc nhau mt cch d dng bi l hai mng c t song song. Tt c cc mng c th c chung u vo v mi mng c th thit lp mt vi u ra. Cc phn t ca vct u vo c a vo mng thng qua ma trn trng W, vi:

Trong : Ch s hng trong cc phn t ca ma trn W cho bit nron ni n cn ch s ct cho bit ni xut pht ca trng lin kt. V d: w12 ni ln s c mt ca tn hiu vo t phn t th hai n nron th nht vi trng lin kt l w12. Tng t nh trnh by vi 1 nron, n gin ta k hiu mng mt lp gm S nron, R u vo nh hnh v 3.11.Trong : vct vo P c kch thc R, ma trn trng lin kt W c kch thc S x R cn a v b l cc vct c kch thc S. Nh chng ta bit, mt lp mng bao gm ma trn trng lin kt, ton t nhn, vct dc b, b tng v hp hm truyn.
3.3.2. Mng nhiu lp a/ K hiu quy c cho mt lp mng

kho st mng nhiu lp trc ht chng ta cn a ra cc k hiu quy c cho mt lp mng. c bit ta cn phi phn bit s khc nhau gia ma trn trng lin kt u vo v cc ma trn trng lin kt gia cc lp v nm vng k hiu ngun v ch ca ma trn trng lin kt. Ta gi ma trn trng lin kt ni vi u vo l cc trng vo (input weights) v cc ma trn n t lp ra l trng lin kt lp (layer weights). Ta s dng cc ch s vit bn trn phn bit ngun (ch s th hai) v ch (ch s th nht) cho cc trng lin kt v cc phn t khc ca mng.

84

Hnh 3.11. K hiu mng R u vo v S nron

Hnh 3.12. K hiu mt lp mng minh ho, ta xt mt lp mng c nhiu u vo nh hnh 3.12. Trong R l s phn t lp vo v Sl l s nron ca lp 1. Ta thy ma trn trng lin kt vi vct vo P l ma trn trng vo (IW1,1) c ngun l 1 (ch s th 2) v ch l 1 (ch s th nht). ng thi cc phn t ca 1 lp nh dc, tn hiu vo hm chuyn, u ra c ch s vit trn l 1 ni rng chng c lin kt vi lp th nht (b1, n1, a1). phn sau ta s s dng ma trn trng lin kt lp (LW) ging nh ma trn trng vo (IW). Vi mt mng c th c ma trn trng IW1,1 c k hiu:
IW1,1 net.IW{1, 1}

Nh vy, ta c th vit k hiu thu c mng nhp vo cho hm chuyn nh sau:

n{1} = net.IW{1, 1}*p + net.b{1};

85

Mt mng nron c th c mt vi lp. Mi lp c ma trn trng lin kt W, vct dc b v u ra a. phn bit cc ma trn trng lin kt vct vo cho mi lp mng trong s , ta thm con s ch lp vit pha trn cho bin s quan tm. Hnh 3.13 l k hiu s mng 3 lp. Trong c R1 u vo, S1 nron lp 1, S2 nron lp 2... Thng thng, cc lp khc nhau c s nron khc nhau. Ch rng u ra ca mi lp trung gian l u vo ca lp tip theo. Nh vy lp 2 c th c xem nh mng 1 lp vi S1 u vo, S2 nron v S2 x S1 trng lin kt ca ma trn W2. u vo ca lp 2 l vct a1, u ra l vct a2. Khi c k hiu ca tt c cc vct v ma trn ca lp 2 ta c th coi n nh l mng 1 lp. Cch tip cn ny c dng cho mt lp bt k ca mng. Cc lp ca mng nhiu lp ng vai tr khc nhau. Lp cui cng l kt qu u ra ca mng, c gi l lp ra. Tt c cc lp khc c gi l lp n. Mng 3 lp trn c 1 lp ra (lp 3) v 2 lp n (lp 1 v lp 2). (Mt vi ti liu coi lp vo nh l lp th t y ta khng s dng quan im ny). i vi mng 3 lp ta cng c th s dng k hiu tt biu din (hnh 3.14). Mng nhiu lp rt mnh, v d c mng 2 lp, trong lp 1 c hm chuyn sigmoid, lp 2 c hm chuyn linear c th c hun luyn lm xp x mt hm bt k (vi s im gin on c hn ch). Loi mng 2 lp ny s c s dng rng ri chng 5 (mng lan truyn ngc). Trong a3 l u ra ca mng, ta k hiu u ra ny l y. Ta s s dng k hiu ny nh r u ra ca mng nhiu lp.

86

Hnh 3.13. Cu trc mng nron 3 lp

Hnh 3.14. K hiu tt ca mng nron 3 lp

3.4. CU TRC D LIU VO MNG

m phng mng nron ta cn phi nh r khun dng ca cu trc d liu c dng trong mng. D liu a vo mng c biu din di 2 dng c bn: mt dng xut hin ng thi (ti cng mt thi im hoc chui thi im c th) v mt dng xut hin lin tip theo thi gian. i vi vct vo ng thi, ta khng cn quan tm n th t ca cc phn t, kiu d liu ny c p dng cho mng tnh. i vi kiu vct vo ni tip th th t xut hin ca cc phn t vct rt quan trng, n c p dng 87

cho mng ng.

Hnh 3.15. Mt nron vi 2 u vo

3.4.1. M t vct vo i vi mng tnh

i vi mng tnh (khng c phn hi v tr), ta khng cn quan tm ti vic c hay khng vct vo xut hin trong mt chui thi im c th, v vy ta c th xem nh cc u vo l ng thi. Trong php cng, ta gii quyt bi ton n gin bng tng ca mng ch c mt vct vo: n = W1,1*p1 + W1,2*p2+b. V d: Mng truyn thng c 2 u vo (hnh 3.15) vi cc thng s: W = [1 2] v b = [0]; tp d liu m phng mng c 4 vct vo ng thi (Q = 4):

Cc vct vo ng thi c trnh by trong mng nh mt ma trn n gin:

P = [1 2 2 3; 2 1 3 1];

Sau khi chy m phng ta thu c cc gi tr u ra a1 = W1,1*p1 + W1,2*p2+b = 1 * 1 + 2 * 2 + 0 = 5 a2 = W1,1*p1 + W1,2*p2+b = 1 * 2 + 2 * 1 + 0 = 4 a3 = W1,1*p1 + W1,2*p2+b = 1 * 2 + 2 * 3 + 0 = 8 a4 = W1,1*p1 + W1,2*p2+b = 1 * 3 + 2 * 1 + 0 = 5 Vy vct vct u ra l: A = [5 4 8 5]. 88

Mt ma trn n ca vct ng thi c a ti mng v mng a ra mt ma trn n ca vct ng thi u ra. Kt qu tng t nh 4 mng lm vic song song, mi mng c mt vct vo v 1 vct ra. Th t ca cc vct vo khng quan trng do chng khng nh hng ln nhau.

Hnh 3.16. Nron c cha khu tr

3.4.2. M t vct vo lin tip trong mng ng

Khi mng c cha khu tr, u vo mng thng s c mt chui cc vct vo m chng xut hin theo th t thi gian no . minh ho cho trng hp ny ta s dng mt mng n bao gm mt khu tr (hnh 3.16). Ta a vo mng gm dy lin tip cc d liu vo th mng sinh ra mt mng bao gm chui lin tip cc d liu ra. Ch rng th t ca d liu vo rt quan trng khi chng c a vo nh mt s ni tip. Trong trng hp ny d liu ra thu c bng cch nhn d liu vo hin thi vi w1,1, d liu vo trc vi w1,2 ri cng kt qu li nu thay i th t cc d liu vo n c th lm thay i nhng s thu c u ra. V d: Mng hnh 3.16 c cc thng s: W = [1 2]; b = 0; Chui vo ni tip l: p1 = [1] p2 = [2], p3 = [3], p4 = [4], c biu din di dng mng:
P = {1 2 3 4}.

Sau khi chy m phng ta thu c mt mng d liu ra vi cc phn t c gi tr: a1 = W1,1*p1+W1,2*p2=1*1+2*0+0=1 (gi tr u vo 2 vn l 0) a2 = W1,1*p1+W1,2*p2=1*2+2*1+0=4 (gi tr u vo 2 l 1) a3 = W1,1*p1+W1,2*p2=1*3+2*2+0=7 (gi tr u vo 2 l 2) 89

a4 = W1,1*p1+W1,2*p2=1*4+2*3+0=10 (gi tr u vo 2 l 3)
Vy A = [1] [4] [7] [10].

3.4.3. M t cc d liu vo ng thi trong mng ng Khi a vo mng ng xt trn mt tp cc d liu ng thi thay cho cc d liu lin tip, ta c th thu c kt qu khc nhau hon ton. V d c tp cc d liu vo ng thi: P1 = [1], P2= [2], P3 = [3], P4 = [4] c thit lp theo m sau:
P = [1 2 3 4];

Sau khi chy m phng vi cc d liu vo ng thi ta thu c:

A = [1 2 3 4].

Kt qu ny ging nh khi ta p dng ng thi mi u vo ti mt mng ring bit v tnh ton mt u ra.
Ch : Mt khi ta khng n nh bt k iu kin u no cho mng c tr th chng c coi bng zero. Trong trng hp ny u ra ch n gin l 1 nhn vi u vo v hm trng nhn vi u vo hin thi l 1.

Trong trng hp c bit, ta c th cn phi m phng p ng ca mng vi mt vi chui s khc nhau trong cng mt thi gian, ta cn a ti mng vi mt tp ng thi ca chui. V d ta cn a ti mng hai d liu lin tip sau: p1(1) = [1], p1(2) = [2], p1(3) = [3], p1(4) = [4] p2(1) = [4], p2(2) = [3], p2(3) = [2], p2(4) = [1]. u vo P cn phi l mt mng, trong mi phn t ca mng bao gm 2 phn t lin tip m chng xut hin cng mt lc.
P = {[1 4] [2 3] [3 2] [4 1]};

Chy m phng mng:

A = sim(net,P);

Kt qu u ra ca mng s l:
A = {[1 4] [4 11] [7 8] [10 5]} = {[a11 a21] [a12 a22] [a13 a23] [a14 a24] trong :

90

a11 = W1,1.p1 + W1,2.p2+b = 1 * 1 + 2 * 0 + 0 = 1; a21 = W1,1.p1 + W1,2.p2+b = 1 * 4 + 2 * 0 + 0 = 4; a12 = W1,1.p1 + W1,2.p2+b = 1 * 2 + 2 * 1 + 0 = 4; a22 = W1,1.p1 + W1,2.p2+b = 1 * 3 + 2 * 4 + 0 = 11; a13 = W1,1.p1 + W1,2.p2+b = 1 * 3 + 2 * 2 + 0 = 7; a23 = W1,1.p1 + W1,2.p2+b = 1 * 2 + 2 * 3 + 0 = 8; a14 = W1,1.p1 + W1,2.p2+b = 1 * 4 + 2 * 3 + 0 = 7; a24 = W1,1.p1 + W1,2.p2+b = 1 * 1 + 2 * 2 + 0 = 8; Ta c th thy ct u tin ca mi ma trn kt qu, chui ra c to ra t chui vo u tin m chng ta lm quen trong v d trc. Ct th hai ca mi ma trn kt qu chui ra c to ra t chui vo th hai. Khng c s tng tc gia hai chui ng thi. N ging nh khi mi ng dng ca cc mng ring bit c chy song song. S di y ch ra khun dng chung ca u vo P khi ta c Q chui vo ng thi qua nhng bc thi gian Ts, n bao hm c trng hp khi c 1 vct vo. Mi phn t ca mng l mt ma trn ca cc vct ng quy m n ng vi cng mt thi im cho mi chui. Nu c nhiu vct vo s c nhiu hng ca ma trn trn mng.

Trong mc ny chng ta p dng cc n liu vo lin tip v ng thi cho mng ng.
Ch : mc 3.4.1 ta p dng d liu vo ng thi cho mng tnh. Ta cng c th p dng d liu vo lin tip cho mng tnh, n s khng lm thay i kt qu m phng ca mng, nhng n c th nh hng ti cch thc hun luyn mng.

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3.5. HUN LUYN MNG

Trong phn ny, chng ta cp n 2 kiu hun luyn mng: Hun luyn gia tng (tin dn) v hun luyn theo gi. i vi s hun luyn gia tng, hm trng v dc ca mng c cp nht mi khi d liu c a vo mng. i vi s hun luyn theo gi, hm trng v dc ch c cp nht sau khi tt c cc d liu c a vo mng.
3.5.1. Hun luyn gia tng

S hun luyn gia tng (hun luyn tin dn) c th c p dng cho c mng tnh v mng ng. Tuy nhin, trong thc t n c s dng nhiu hn cho mng ng, v d cc b lc thch nghi. Trong mc ny, chng ta s gii thch s hun luyn gia tng c thc hin nh th no trn mng tnh v mng ng.
a/ Hun luyn gia tng i vi mng tnh

Xt mng tnh hc, ta mun hun luyn n gia tng, sao cho hm trng v dc ca n c cp nht mi khi u vo c mt. Trong trng hp ny chng ta s dng hm "Adapt" v ta coi cc gi tr u vo v ch l cc chui ni tip. Gi thit ta mun hun luyn mng to ra hm tuyn tnh:
t = 2p1 + P2

Cc d liu vo ban u c s dng:

ch ca mng l: t1 =[4] t2 = [5] t3 = [7] t4 = [7] Trc ht ta thit lp mng vi nhng hm trng v dc ban u bng zero. Ta cng t mc hc xut pht t zero, cho thy hiu ng ca s hun luyn gia tng.
net = newlin([-1 1;-1 1], 1,0,0); net.IW{1,1} = [0 0]; net.b{1} = 0;

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 hun luyn gia tng, ta cn coi cc u vo v ch l cc chui:

P = {[1;2] [2;1] [2;3] [3;1]} T = {4 5 7 7};

Nh cp mc trc, i vi mng tnh kt qu s m phng ca mng u ra liu c ging nh u vo c a ra nh l mt ma trn ca vct ng thi hay nh l mt mng ca cc vct lin tip. iu ny l khng ng khi hun luyn mng. Tuy vy khi s dng hm Adapt, nu mt mng cc vct lin tc c a n u vo th hm trng c cp nht nh vi mi u vo c a n. Nh chng ta s thy phn sau, nu mt ma trn ca vct ng thi c a n u vo th hm trng ch c cp nht sau khi tt c cc tn hiu vo c a n. hun luyn gia tng ta s dng dng lnh:
[net,a,e,p,f] = adapt(net,P,T);

u ra ca mng vn l zero bi l tc hc bng zro v hm trng khng c cp nht. Cc gi tr sai lch s bng cc gi tr ch:
a = [0] [0] [0] [0] e = [4] [5] [7] [7]

Nu by gi ta t tc hc bng 0, 1 ta c th thy mng s c iu chnh mi khi u vo c tn hiu:

net,inputWeights{1,1}.learnParam.Ir=0.1; net.biases{1,1}.learnParam.Ir=0.1; [net,a,e,pf] = adapt(net,P,T); a = [0] [2] [6.0] [5.8]

e = [4] [3] [1.0] [1.2]

D liu ra th nht tng t nh d liu ra vi tc hc bng 0, do khng c s cp nht no cho ti khi d liu vo th nht xut hin. D liu ra th hai l khc do hm trng c cp nht. Cc hm trng lin tc c sa i theo mi sai lch c tnh ton. Nu mng c nng lc v tc hun luyn chn hp l th cc sai lch s dn tin ti zro. 93

b/ Hun luyn gia tng i vi mng ng

i vi mng ng, ta cng c th hun luyn gia tng (y l kiu hun luyn chung nht). Xt mng tuyn tnh vi mt tr u vo m ta cp phn trc. Ta cho gi tr ban u ca hm trng bng 0 v t tc hc l 0,1.
net = newlin([-l 1],1,[0 1], 0.1); net.IW{1, 1} = [0 0]; net.biasconnect = 0;

hun luyn gia tng mng ny, ta biu din d liu vo v d liu ch nh l cc phn t ca mng.
Pi = {l}; P = {2 3 4}; T = {3 5 7};

y ta th hun luyn mng thc hin php cng d liu vo hin thi v d liu vo trc to ra d liu ra hin thi. iu ny ging nh s ni tip d liu vo ta s dng v d trc ca s s dng hm Sim, Ch c iu chng ta gn gii hn u tin trong s ni tip nh iu kin ban u cho s tr hon. By gi ta c th s dng hm Addapt hun luyn mng:
[net,a,e,pf] = adapt(net,P,T,Pi); a = [0] [2.4] [7.98]

e = [3] [2.6] [-0.98]

D liu ra u tin bng 0 do hm trng cha c cp nht. Hm trng s thay i ti mi bc thi gian k tip.
3.5.2 Hun luyn mng theo gi

Hun luyn theo gi trong cc hm trng v dc ch c cp nht sau khi tt c cc d liu vo v ch c a ti, c th c p dng cho c mng tnh v mng ng. Trong mc ny, chng ta s tho lun k c hai loi mng ny.
a/ Hun luyn theo gi i vi mng tnh

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 hun luyn theo gi, ta c th s dng hm adapt hoc hm train, song ni chung trai l tu chn tt nht, v n c trng cho s truy nhp c hiu qu hn ca gii thut hun luyn. Nh vy, s hun luyn gia tng ch c th lm vic vi hm adapt, cn hm train ch c th thc hin hun luyn theo gi. Trc ht ta hy bt u hun luyn theo gi i vi mng tnh cp trong v d trc, tc hoc t bng 0,1.
net = newlin([-1 1;-1 1],1,0,0.1); net.IW{1,1} = [0 0]; net.b{1} = 0;

hun luyn theo gi mng tnh cc vc t d liu vo cn c t trong ma trn ca cc vc t ng thi.

P = [1 2 2 3; 2 1 3 1]; T = [4 5 7 71;

Khi ta gi lnh Adapt, n s ko theo trains (l cc hm thch nghi mc nh ca mng tuyn tnh) v learnwh (l cc hm hun luyn mc nh ca hm trng v dc).
[net,a,e,pf] = Adapt(net,P,T); a=0000 e - 4 5 7 7.

Ch rng tt c cc u ra ca mng u bng zero, bi l cc hm trng cha c cp nht cho ti khi tt c tp hp hun luyn c a ti. Nu hin th trn mn hnh ta thy:
net.IW{1,l} ans = 4.9000 net.b{1} ans = 2.3000. 4.1000

y l s khc nhau v kt qu ta nhn c sau mt ln thc hin hm Adapt vi s cp nht gia tng. By gi chng ta hy thc hin vic hun luyn theo gi s dng hm train. Do lut Widrow-Hoff c th s dng cho kiu gia tng v kiu gi, n c th c gi bng Adapt hoc train. C mt vi thut ton hun luyn ch c th s dng trong kiu gi (v d LevenbergMarquardt) v do cc thut ton ny ch c th gi bng lnh train. Mng 95

s c ci t bng cch tng t.

net = newlin([-1 1;-1 1],0,0.1); net.IW{1,1} = [0 0]; net.b{1} = 0;

Trong trng hp ny vc t d liu vo c th t di dng ma trn ca cc vc t ng thi (concurrent vectors) hoc di dng mng ca cc vc t lin tip. Trong Train, mng ca cc vc t lin tip bt k c chuyn i thnh ma trn ca cc vc t ng thi. l do mng l tnh v do lnh train lun lun hot ng theo kiu gi.
P = [1 2 2 3; 2 1 3 1]; T = [4 5 7 7];

By gi ta sn sng hun luyn mng. Ta s hun luyn n ch trong mt k v ta ch s dng mt ln hm Adapt. Hm hun luyn mc nh cho mng tuyn tnh l train v hm hun luyn mc nh cho hm trng v dc l learnwh, v vy ta c th nhn c cc kt qu tng t kt qu s dng Adapt trong v d trc, khi ta s dng hm thch nghi mc nh l trains.
net.inputWeights{1,1}.learnParam.Ir = 0,1; net.biases{l}.learnParam.Ir = 0,1; net.trainparam.epochs : 1; net = train(net,P,T);

Nu cho hin th hm trng sau mt k hun luyn ta thy:

net.IW{1,1} ans = 4.9000 4.1000 net.b{1} ans = 2.3000.

Kt qu ny tng t vi kt qu hun luyn theo gi s dng Adapt. i vi mng tnh, hm Adapt c th thc hin s hun luyn gia tng hoc theo gi tu thuc vo khun dng d liu vo. Nu d liu c a ti mng di dng ma trn ca cc vc t ng thi th hun luyn theo gi s xy ra. Nu d liu c a ti di dng chui th hun luyn gia tng s xy ra. iu ny khng ng vi hm train, n lun lun hun luyn theo gi m khng ph thuc vo khun dng ca d liu vo. 96

b/ Hun luyn theo gi i vi mng ng

Hun luyn mng tnh hc tng i d hiu. Nu ta s dng thun hun luyn mng theo gi v d liu vo c chuyn i thnh vc t ng thi (cc ct ca ma trn) cho d khun dng trc y ca chng l chui. Nu ta s dng Adapt th khun dng d liu vo quyt nh phng php hun luyn. Nu khun dng d liu vo l chui th mng c hun luyn kiu gia tng, nu khun dng d liu vo l vc t ng thi th mng c hun luyn kiu gi. i vi mng ng, kiu hun luyn theo gi ch c thc hin vi hm train. minh ho iu ny ta li xt mng tuyn tnh c tr. Ta s dng tc hc l 0,02 hun luyn. Khi s dng gii thut gim dc ta chn tc hc cho kiu hun luyn gi nh hn kiu hun luyn gia tng. V d:
net = newlin([-1 1],1,[0 1],0.02); net.IW{1,1}=[0 0]; net.biasConnect 0; net.trainparam.epochs = 1; Pi = {1}; P = {2 3 4}; T = {3 5 6};

Ta mun hun luyn mng vi chui tng t nh s dng cho s hun luyn gia tng trc y th nhng thi im cn thit cp nht cc hm trng ch xy ra sau khi tt c d liu vo c p dng (kiu gi). Mng c coi nh tun t v u vo l tun t, song cc hm trng c cp nht theo kiu gi.
net=train(net,P,T,Pi); net.IW{1,1} ans = 0.9000 0.6200.

Kt qu ny khc vi kt qu ta thu c bng hun luyn gia tng, cc hm trng c cp nht 3 ln trong thi gian mt tp hun luyn. i vi hun luyn theo gi cc hm trng ch c cp nht mt ln trong mt kha hun luyn.

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Chng 4

MNG PERCEPTRONS
4.1. M U

Chng ny vi mc tiu u tin l: Gii thiu v cc lut hc, cc phng php din gii nhng s thay i tip theo m n c th c lm trong mt mng, v s hun luyn l mt th tc m nh mng c iu chnh lm mt cng vic c bit. Tip theo ta tm hiu v cc hm cng c thit lp mng Perceptron n gin ng thi chng ta cng kho st cc hm khi to v m phng cc mng tng t. Ta s dng mng Perceptron nh l mt phng tin biu l ca cc khi nim c bn. Rosenblatt thit lp nhiu bin th ca mng perceptron. Mt trong cc dng n gin nht l mng lp n m hm trng v dc ca n c th c hun luyn a ra mt vc t ch chnh xc khi c vc t vo tng ng c gi ti. K thut hun luyn c gi l lut hc perceptron. Perceptron lm pht sinh nhiu c hi quan trng cho kh nng khi qut ho t cc vc t hun luyn chng v s hc t iu kin u phn b cc mi quan h mt cch ngu nhin. Perceptron c bit ph hp cho nhng vn n gin trong phn loi sn phm. Chung l nhng mng nhanh v tin cy cho nhng vn chng c th gii quyt. Hn na, s thng hiu hot ng ca Perceptron s to c s cho s hiu bit cc mng phc tp hn. Trong chng ny, ta s nh ngha lut hc, gii thch mng Perceptron v lut hc ca n, lm th no khi to v m phng mng Perceptron. Cc vn nu ra y ch l nhng vn tm lc c bn, hiu su hn ta cn c trong [10].
4.1.1. M hnh nron perceptron

Mt nron Perceptron s dng hm chuyn hardlim c ch ra trn hnh 4.1. Mi u pi c hm trng vi trng lin kt wlj v tng cc u vo k c dc b l n = wl j + b c gi n hm chuyn bc nhy (hard-limit) (Hnh 4.1b). u ra ca nron perceptron c gi tr 1 nu n ln hn hoc bng 0 v c gi tr bng 0 nu n nh hn khng:

98

Hnh 4.1a,b. Nron vi R u vo a) M hnh nron, b) Hm chuyn bc nhy Vi hm chuyn hard-limit cho php Perceptron c kh nng phn loi vc t vo bng cch phn chia khng gian vo thnh 2 vng, phn cch vi nhau bng ng bin gii L ng vi phng trnh: W.p + b = 0.
V d: Xt ca nron Perceptron c 2 u vo vi cc hm trng w1,1= -1, w1,2 = 1 v gc b = 1. Ta c:

n = W.p + b = w1.1p1 + w1,2.p2 + b = -pl + p2 + 1. ng bin gii L c ch ra trn hnh 4. 1. ng ny vung gc vi ma trn trng W v di chuyn dc theo dc b. Cc vc t vo pha trn v bn tri ng L c gi tr u vo mng ln hn 0, v vy, nron hard-limit a ra 1. ng bin gii c th chuyn hng v di chuyn n bt c ch no phn loi khng gian vo mong mun bng cch la chn hm trng v gi tr dc. Nron hard-limit khng c dc s lun c ng bin gii i qua gc to . Cng thm dc s cho php nron gii quyt bi ton 2 tp vc t vo khng nm trn 2 cnh khc nhau ca gc to . dc cho php ng bin gii thay i ri xa khi gc nh trn hnh 4.2. Ta c th thay i hng ca ng phn cch, chn cc u vo mi phn loi v quan st qu trnh lp ca cc lut hc.

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Hnh 4.2. S phn loi ca nron Perceptron 2 u vo

4.1.2. Kin trc mng perceptron

Hnh 4.3a,b biu din cu trc ca mng Perceptron bao hm mt lp vi S nron Perceptron ni vi R u vo thng qua tp cc hm trng WijI . Lut hc ca perceptron c miu t ngn gn l kh nng hun luyn ch ca lp n. Do vy, ta ch coi l mng mt lp, v n ch c kh nng gii quyt c nhng bi ton n gin. Nhng hn ch ca Perceptron s c cp n phn cui ca chng.

Hnh 4.3a,b. Kin trc mt lp mng Perceptron a) Kin trc y , b) K hiu tt

4.2. THIT LP V M PHNG PERCEPTRON TRONG MATLAB 4.2.1 Thit lp

thit lp mng perceptron ta dng hm newp vi c php: 100

newp net = newp(PR,S)

trong PR l min v max ca cc gi tr ca R phn t vo, S l s nron. Hm chuyn mc nh ca perceptron l hardlim.

V d: thit lp mt mng perceptron vi mt phn t, mt lp, gii hn vc t vo t 0 - 2 ta dng lnh: net = newp([0 2],1);

Ta c th thy mng c thit lp th no bng cch thc hin chui lnh:

inputweights = net.inputweights{1,1}.

Kt qu cho ra
inputweights = delays: 0 initFcn: 'initzero' learn: 1 learnFcn: 'learnp' learnParam: [ ] size: 11 11 userdata: [IXI structl weightFcn: 'dotprod'.

Hm hc mc nh l cho mng Perceptron l hm learnp (s c cp phn sau). Tch s ca vc t vo vi ma trn trong lin kt cng vi dc c a n hm chuyn hardlim. Hm khi to mc nh initzero c s dng thit lp gi tr ban u ca trng lin kt (thit lp gi tr ban u bng zero). M phng mng ta c:
biases = net.biases{1} gives biases = initFcn: 'initzero' learn: 1 learnFcn: 'learnp' learnparam: [ ] size: 1 userdata: [1x1 struct]

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Ta cng thy rng gi tr mc nh ban u ca dc l 0.

4.2.2. M phng (sim)

thy s lm vic ca sim, ta xt v d cn to ra mt Perceptron mt lp c 2 u vo (hnh 4.4). Ta nh ngha mt mng vi:

net = newp([-2 2;-2 +2],1);

Nh bit trn, hm trng v dc ban u ly gi tr mc nh bng 0, v vy nu ta mun mt tp khc 0, ta cn phi thit lp chng. V d thit lp 2 hm trng v mt dc l: w1,1 = -1, w1,2 = 1 v b = 1 ta thc hin 2 dng lnh:
net.IW{1,1}= [-1 1]; net.b{1} = [1];

m bo chc chn rng cc tham s c thit lp l chnh xc, ta kiu tra chng vi lnh:
net.IW{1,1} ans -1 1 net.b{1} ans =

By gi ta thy nu mng a ra 2 tn hiu, mt trong mi cnh ca ng bin gii perceptron.

P1 = [1;1]; a1 = sim(net,p1) a1 = 1 and for p2 = [1;-1] a2 = sim(net,p2) a2 = 0

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Nh vy perceptron phn loi 2 u vo mt cch chnh xc.

Ch : Ta cng c th a n 2 u vo mt chui d liu, khi u ra ng nhn c mt chui d liu. V d: p3 = {[1;1] [1;-1]}; a3 = sim(net,p3) a3 = [1] [0] 4.2.3. Khi to

Ta c th s dng hm init thit lp li (reset) hm trng v dc v gi r ban u. lm iu , chng ta hy bt u vi mng:

net = newp(1-2 2;-2 +2],1);

kim tra hm trng ca n, ta dng lnh:

wts = net.IW{1,1}

Kt qu ta c:
wts = 0 0

Tng t, ta c th kim tra dc b = 0

bias = net.b{1}

Kt qu:
hias = 0

By gi ta thit lp hm trng c gi tr 3 v 4, dc bng 5

net.IW{1,1} = [3,4]; net.b{1} = 5;

Kim tra li kt qu
wts = 34 bias =

S dng init reset the hm trng v dc v gi tr ban u

net - init(net);

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Kim tra
wts 00 bias = 0

Ta c th thay i cch thc ca perceptron c khi to vi init. V d, ta th nh ngha li cc hm trng u vo mng v dc intFcn nh s ngu nhin v sau p dng inh nh ch ra nh sau:
net.inputweights{1,1}.initFcn = 'rands'; net.biases{1}.initFcn = 'rands'; net = init(net);

Kim tra hm trng v dc

wts = 0 2309 biases = -0.1106 0.5839

Ta thy rng hm trng v dc c ly cc s ngu nhin.

4.3. CC LUT HC 4.3.1. Khi nim

Lut hc l mt th tc nhm sa i hm trng v dc ca mng (th tc ny cng c th coi nh mt thut ton hun luyn). Lut hc c p dng hun luyn mng thc hin mt vi nhim v c th no . Cc lut hc trong mng c phn thnh 2 loi: hc c gim st v hc khng c gim st. + i vi hc c gim st cc lut hc c cung cp cng vi mt tp cc v d (tp hun luyn) c trng ca mng: {P1,t1}; {p2,t2}... ;{pQ,tQ} Trong PQ l u vo mng v t u ra p ng chnh xc tng ng (ch). Ging nh cc u vo p dng cho mng, cc u ra mng c so snh vi ch. Lut hc c s dng iu chnh hm trng v dc ca mng nhm dch chuyn dn cc u ra mng tin dn n ch. + i vi hc khng gim st, hm trng v dc ca mng c thay 104

i tng ng gi tr u vo m khng c sn ch u ra. Phn ln cc thut ton ny biu din thnh mt tp b. Ngi ta chia mu vo thnh con s c th ca hng (loi). iu ny c bit hu ch trong cc ng dng c th nh mt vc t lng t ho. Trong chng ny ta ch cp n cc thut ton hun luyn mng perceptron theo kiu hc c gim st. Trong Matlab ngi ta s dng 2 hm hun luyn mng l hm learnp v hm train.
4.3.2. Lut hc Perceptron (learnp)

Perceptron c hun luyn theo mu mong mun cho trc. Mu mong mun c th tp hp thnh mt tp cc cp u vo, u ra: P1, t1; p2, t2;...; pQ, tQ trong : p l u vo mng, t l p ng tng ng u ra. Mc ch l gim sai lch e gia p ng ca nron v hm mc tiu t (e = t - a). Lut hc perceptron (leranp) tnh trc s thay i mong mun i vi hm trng v dc gi ti vc t vo p v kt hp vi sai lch e. Do vc t ch t ch c th c gi tr 0 hoc 1, i vi nron perceptron (vi cc hm truyn dng hardlim) u ra ch c th c 1 trong 2 gi tr. Mi ln lnh learnp c thc hin, mng s c mt gi tr kt qu u ra chnh xc hn. Lut hc perceptron s hi t n kt qu cui cng sau mt s hu hn cc ln lp nu nh c tn ti p n. Nu khng s dng dc, learnp lm vic tm p n bng vic thay i vc t trng lin kt W ch r vc t u vo thuc lp 1 hay lp 0. Kt qu ny dng quyt nh ng bin gii l ng trc giao vi W v n phn loi chnh xc vc t vo. Trong qu trnh hun luyn mng c th xy ra 3 trng hp mi khi vc t u vo (p) xut hin v p ng mng (a) c tnh ton: + Trng hp 1: nu vc t u vo xut hin v p ng u ra ca n l ng (a = t, v e = t - a = 0) th vc t hm trng W khng thay i. + Trng hp 2: nu u ra ca nron bng 0 cn trc bng 1 (a = 0; t = 1 v e = t - a = 1) vc t u vo P lm tng vc t hm trng W. iu ny lm cho vc t trng tin gn ti vc t vo, dn dn kh nng vc t vo s c phn loi a = 1 trong tng lai. + Trng hp 3: nu u ra ca nron bng 1 trc c th l 0 (a = 1; t = 0 v e = t - a = -l) vc t vo P c tr i vc t hm trng W. iu lm cho vc t trng ngy cng xa vc t vo, dn dn vc t vo c phn loi a = 0 trong tng lai. Lut hc perceptron c th c vit c ng trong mi quan h ca sai lch e = t - a v s thay i ca vc t trng W nh sau: Trng hp 1: Nu e = 0 th s thay i gi tr ca W bng 0. 105

Trng hp 2: Nu e = 1 th s thay i gi tr ca W bng 0. Trng hp 3: Nu e = -1 th s thay i gi tr ca W bng 0 c 3 trng hp trn c th vit di dng biu thc n gin:
W = (t - a)pT = epT.

Ta c th nhn c biu thc thay i dc ca nron vi ch rng, dc ch n gin l hm trng c u vo l 1:

b = (t - a).(1) = e.

i vi trng hp ca mt lp nron ta c:
W = (t - a)PT = epT v b = (t - a).(1) = e.

Lut hc perceptron c th tm tt nh sau:

Wmi = Wc + ePT v bmi=bc + e Trong e = t-a.

V d: xt nron n gin c vc t vo vi 2 phn t

net = newp([-2 2;-2 +2],1);

n gin ta thit lp dc bng 0, cc hm trng l 1 v 0,8.

net.b{1} = [0]; w = [1 -0 8]; net.IW{1,1} = w;

Cp vo ch c xc nh bi:
p = [t; 2]; t = [1];

Ta c th tnh ton u ra v sai lch vi cc lnh:

a = sim(net,p)

Kt qu: a = 0
e = t- a = 1

V cui cng s dng hm learnp nhn c s thay i hm trng.

dw - learnp(w, p, [ ], [ ], [ ], [ ], e, [ ], [ ], [ ]) dw : 1 2

Hm trng mi thu c l: 106

W = W + dW W = 2.0000 1.2000

Qu trnh tm hm trng mi (v cc dc mi) c th c lp i lp li cho n khi khng cn sai lch. Ch : Lut hc perceptron m bo hi t sau mt s hu hn cc bc ca tt c cc bi ton c th c gii quyt bng perceptron. N bao hm tt c cc bi ton phn loi tch ri tuyn tnh (linearly separable). Cc i tng phn loi trong mi trng hp u c th cch li bng ng n.
4.3.3. Hun luyn mng (train)

Lnh sim v hm learnp c s dng lp a cc d liu u vo n perceptron v thay i hm trng v dc ca perceptron theo sai lch gia u ra ca mng v ch, perceptron s tm c hm trng v dc cui cng gii quyt bi ton t ra (vi iu kin bi ton perceptron c th gii quyt c) Mi ng ngang xuyn qua tt c cc u vo hun luyn v vc t ch c gi bng lnh pass. Hm train a ra nh vng lp ca s tnh ton. Trong mi mt pass hm trnh thu c thng qua chui cc tn hiu vo, tnh ton u ra, sai s v iu chnh mng mi vc t tn hiu vo trong chui ging nh cc u vo c. Ch rng hun luyn trnh khng m bo kt qu mng lm c cng vic ca n. Gi tr mi ca W v b cn c kim tra bng vic tnh ton u ra mng theo mi vc t vo thy c nu tt c cc ch t c. Nu mng thc hin khng thnh cng, n cn c hun luyn thm na bng cch gi li train vi hm trng v dc mi cho cc ln hun luyn thm, hoc c th phn tch thy rng bi ton khng ph hp cho perceptron. (Cc bi ton khng th gii c bng mng perceptron c trnh by trong mc cui ca chng ny). minh ho cho th tc hun luyn train, ta xt mt nron perceptron vi vc t vo c 2 phn t nh hnh v. y l mt mng rt n gin cho php ta c th thc hin tnh ton bng tay (nu cn). Gi thit ta s dng mng trn gii quyt bi ton phn loi vi cc cp vc t ch nh sau: 107

S dng hm trng v dc ban u. Ta biu din cc bin mi bc tnh bng cch s dng con s trong du ngoc n sau bin. Theo cch ta c gi tr ban u l W(0) v b(0). W(0) = [0 0]; b(0) = 0 Ta bt u bng vic tnh u ra ca perceptron a i vi u vo th nht l vc t p1, s dng iu kin v hm trng v dc,

u ra a khng bng gi tr ch t1, v vy ta s dng lut perceptron tm s thay i ca hm trng v dc trn c s ca sai lch.
e=t1 a = 0 - 1 = - 1 W = e P1T = (-1)[2 2] - [- 2 - 2] b = e = (-1) = -1.

Ta c th tnh hm trng v dc mi nh s dng cc quy tc cp nht perceptron ch ra trc y:

Wmi = Wc + ePT = [0 0] + [-2 -2] = [-2 -2 ] = w(1) bmi = bc + e = 0 + (-1) = -1 = b(1).

Vi vc t vo P2 tip theo, u ra c tnh:

Trong trng hp ny ch l 1 v vy sai lch bng 0. Do khng c s thay i hm trng v dc: W(2) = W(1) = [-2 -2] v b(2) = b(1) = - 1. Tng t ta tip tc xem xt s c mt ca P3' tnh ton u ra, sai lch v tm s thay i ca hm trng v dc... Sau khi thc hin mt lt qua c 4 gi tr vo, ta nhn c: W(4) = [-3 -1] v b(4) = 0. kt thc khi thu c p n tha ng, ta cn phi lm mt lt 108

qua tt c cc vc t vo thy c kt qu ca tt c cc gi tr ch mong mun. iu ny khng ng cho u vo th 4, nhng thut ton hi t trong ln th 6. Gi tr cui cng l: W(6) = [-2 -3] v b(6) = 1. n y kt thc s tnh ton bng tay. By gi ta cn lm th no s dng hm hun luyn? Theo m nh ngha perceptron nh ch ra trn hnh v trc, vi gi tr ban u ca hm trng v dc bng 0, ta c:
net = newp(l-2 2;-2 +2],1);

Quan st gi tr ca u vo n.
p = [2; 2];

ta c ch
t = (0);

t k hun luyn epochs = 1, nh vy train s i qua cc vc t vo mt ln.

net.trainparam.epochs = 1; net = train(net,p,t);

Hm trng mi v dc mi l:
w= -2 -2 b= -1

Vy vi gi tr ban u ca hm trng v dc = 0, sau khi hun luyn vi ch vc t th nht, chng c gi tr [-2 -2] v -1 ging nh khi ta tnh bng tay. By gi p dng cho vc t vo th 2 (p2). u ra l 1, hm trng v dc s c thay i, nhng by gi ch l 1, sai lch s bng 0 nn s thay i s bng 0. Ta c th i theo cch ny, bt u t kt qu trc v p dng vc t u vo mi cc ln sau. Tuy nhin ta c th lm cng vic mt cch t ng vi hm train. Sau y ta s p dng hm train cho mt kha hun luyn tng u vo ln lt thng qua chui ca tt c 4 vc t vo. u tin ta nh ngha mng:
net : newp([-2 2;-2 +2[,1); net.trainParam.epochs = 1;

Cc vc t vo v ch l: 109

p = [[2;2] [1;-2] 1-2;2] [-1;1]] t - [0 1 0 1]

hun luyn ta s dng:

net = train(net,p,t);

Hm trng v dc mi l:
w= -3 -1 b= 0

Kt qu ny tng t nh kt qu ta tnh bng tay trc y. M phng cui cng s hun luyn mng cho mi u vo l:
a = sim(net,p) a= [0] [0] [1] [1]

u ra mng khng bng gi tr ch. V vy cn hun luyn mng thm mt s ln na. Ta s th 4 kha hun luyn. Cc kt qu cho ra nh sau: TRAINC, Epoch 0/20 TRAINC, Epoch 3/20 TRAINC, Performance goal met. Nh vy, mng c hun luyn vo lc cc u vo c mt trong 3 kha (Nh bit t vic tnh bng tay, mng hi t vi s xut hin ca vc t vo th 6. iu ny xut hin gia ca kha 2 nhng n kha hun luyn th 3 ta mi nhn ra s hi t ca mng). Hm trng v dc cui cng l:
w= -2 -3 b= 1

Kt qu m phng u ra v sai s ca cc u vo ring bit l:

a= 0 1.00 0 1.00

110

error = [a(1) t(1) a(2) - t(2) a(3) - t(3) a(4) - t(4)] error = 0 0 0 0

Vy ta thy rng th tc hun luyn thnh cng. Mng hi t v kt qu ng vi ch u ra ca 4 vc t u vo.

Ch : Hm hun luyn mc nh ca mng c thit lp vi lnh newp l trains (bn c c th tm hiu thm bng cch g lnh net.trainFcn t ca s lnh ca Matlab). Hm hun luyn ny p dng cho cc lut hc perceptron di dng thun tu. Trong , mi thnh vin ca vc t vo c p dng ring l thnh chui v s hiu chnh hm trng v dc c tin hnh sau mi ln xut hin ca 1 vc t vo. Vy, hun luyn perceptron vi hm trnh s hi t mt s hu hn cc bc, ngoi tr bi ton khng th gii quyt c vi perceptron n gin.

Hm trm c th c s dng trong cc trng hp khc nhau cho cc mng khc u cho kt qu tt.
4.4. CC HN CH CA PERCEPTRON

Mng perceptron c th c hun luyn vi hm Adapt, n a ln lt cc vc t vo n mng v tin hnh hiu chnh mng da trn kt qu ca mi ln thc hin. S dng Adapt m bo rng mt bi ton c lp tuyn tnh bt k s c gii quyt trong mt s hu hn cc bc hun luyn. Perceptron cng c th c hun luyn vi hm train. Khi trnh c s dng cho perceptron, n gi vc t vo n mng theo gi v tin hnh hiu chnh mng trn c s tng ca tt c cc hiu chnh thnh phn. Tuy nhin n nay ta cha chng minh c s hi t thut ton hun luyn ca perceptron. Mng perceptron c mt vi hn ch sau: - u ra ca perceptron ch c th nhn 1 trong 2 gi tr 0 hoc 1 do hm chuyn hard-limit. - Perceptron ch c th phn loi, cho tp cc vc t c lp tuyn tnh. Nu l ng thng hoc mt phng ta c th v tch ri cc vc t vo thnh cc loi chnh xc, cc vc t vo l c lp tuyn tnh. Nu cc vc t vo khng c lp tuyn tnh s hc s khng bao gi t ti mc tt c cc vc t c phn loi chnh xc. Tuy nhin iu cng chng minh rng nu cc vc t l c lp tuyn tnh, perceptron hun luyn thch nghi s lun tm c p n trong thi gian hu hn. Ta cng c th s dng nhiu nron perceptron c th c gii quyt cc bi ton phc tp hn.
V d: Gi thit c tp 4 vc t ta cn phn chia chng thnh cc nhm

111

ring bit vi 2 ng thng c v tch ri chng. Khi , ta c th s dng mng 2 nron perceprton, mng c thit lp sao cho 2 ng bin gii ca n phn chia u vo thnh 4 loi. (Bn c c th c [HDB1996] hiu thm v perceptron v cc bi ton perceptron phc tp).
Nhng s bt thng v lut pcrceptron m rng

Thi gian hun luyn di c th do s hin din ca vc t vo bn ngoi, chng c kch thc qu rng hoc qu nh so vi cc vc t vo khc. Vic p dng lut hc perceptron bao gm vic cng hay tr vc t vo da vo hm trng v dc hin thi p ng n sai s. Do vy mt vc t vo vi phn t ln c th lm cho s thay i hm trng v dc lu hn nhiu ln vc t vo nh. Bng vic thay i lut hc perceptron cht t, thi gian hun luyn c th thch hp cho cc vc t vo rt ln hoc rt nh. Lut gc cp nht hm trng l:
W = (t-a)pT = epT

Nh ch ra trn, rng ca vc t vo p, c tc ng ln vc t hm trng W. Do vy, nu mt vc t vo ln hn nhiu so vi cc vc t vo khc, cc vc t vo nh ch cn mt thi gian ngn c kt qu. khc phc nhc im ny, ta a ra lut hc m rng. Khi , tc ng ca mi vc t vo ln hm trng:

Lut perceptron m rng c thc hin nh hm learnp. N lm gim bt thi gian thc hin nhng khng lm gim s ln hun luyn mt cch ng k nu c vc t vo bt thng (outlier).
4.5. S DNG GIAO DIN HA KHO ST MNG NRON

(Graphical User Interface - GUI)

4.5.1. Gii thiu v GUI

Giao din ha (Graphical User Interface - GUI) c thit k n gin v thun tin cho mgi s dng. Ca s giao din ha c mt vng lm vic ca n tch ri khi cc dng lnh ca vng lm vic. V vy khi s dng GUI ta cn phi xut kt qu GUI sang (dng lnh) vng lm vic. Tng t ta c th nhn kt qu t dng lnh lm vic n GUI. Mi ln Network/Data Manager c a ra v chy, ta c th thit lp mng, quan st, hun luyn, m phng n v ct kt qu cui cng vo vng 112

lm vic. Tng t, ta c th ly d liu t vng lm vic s dng trong GUI. V d sau y vi mng perceptron, ta s i qua tt c cc bc thit lp mng v ch r ta c th lm g c nhng iu mong mun.
4.5.2. Thit lp mng Perceptron (nntool)

Gi thit cn thit lp mng perceptron thc hin cng logic AND. N c vc t vo:
p = [0 0 1 1; 0 1 0 1] v vc t ch l: t - [0 0 0 1]

Ta gi mng l ANDNet. Mt ln thit lp mng s dc hun luyn. Sau ta c th ct mng, u ra ca n; v.v... bng lnh "exporting" trong ca s dng lnh.
a/ Thit lp cc gi tr vo - ra

bt u ta g nntool, xut hin ca s hnh 4.6.

Hnh 4.6 Kch vo help bt u vo bi ton mi v thy ngha ca cc nt. Trc tin, nh ngha u vo mng ta gi p, c gi tr c th [0 0 1 0; 0 1 0 1]. 113

Nh vy, mng c 2 phn t vo v 4 tp ca 2 phn t vc t c a n hun luyn. inh ngha d liu ny, kch vo new data s xut hin ca s Create New Data. t tn cho p, gi tr l [0 0 1 1; 0 1 0 -1] v xc nh kiu d liu (data type) l tp d liu vo (inputs). Ca s thit lp d liu mi nh hnh 4.7. By gi kch Create thit lp file u vo p. Ca s Network/Data Manager hin ln v p ch r l u vo. Tip theo ta thit lp ch ca mng. Kch new data mt ln na ri a vo bin t vi gi tr [0 0 0 1], sau kch target n nh kiu d liu. Sau li kch Create ta s thy ca s Network/Data Mangaer xut hin vi t l ch v p l cc u vo.

Hnh 4.7
b. Thit lp mng

Gi thit ta mun thit lp mng mi c tn l ANDNet. lm iu ta kch New Network. ca s CreateNew Network xut hin vi tn ANDNet trong khung Network Name (hnh 4.8), thit lp kiu mng Netword Type l Perceptron, khi kiu mng ta mong mun c thit lp. Phm vi u vo c th c ci dt bng con s trong vng . song ta cng rt d ng nhn c chng t 1 u d liu ring bit ta cn s dng. lm iu ny ta kch vo mi ln di xung phn bn phi ca phm vi u vo (Input Range) menu ny tri xung ch ra rng ta c th c c phm vi u vo t file p nu ta mun. Nu kch vo p phm vi u vo s l [0 1 ; 0 1].

114

Hnh 4.8a, b Ta chn hardlim trong menu hm chuyn transfer function v learnp trong menu hm hc learning function. n y ta c ca s Create New Netword nh hnh 4.8a.Ta c th quan st cu trc mng bng cch kch vo Wiew (hifnh 4.8b). Nh vy ta thit lp c mt mng nron u vo n (bao gm 2 phn t) hm chuyn hardlim v 1 u ra. l mng perceptron ta mong mun. By gi kch vo Create mi ra mng va thit lp, ta s nhn c ca s Netword/Data Manager. Ch rng ANDNet by gi c lit k nh mt mng (hnh 4.9).
4.5.3. Hun luyn mng

hun luyn mng ta kch vo ANDNet m chng, sau kch vo Train, xut hin ca s mi vi nhn: Netword:ANDNet. y ta c th nhn li mng bng cch kch vo Train. kim tra iu kin u ta kch vo nhn Initialize. By gi n vo nhn Train, nh r u vo, u ra bng cch kch vo nhn Training Info, chn P trong hp thoi Inputs v t trong hp thoi targets. Khi ca s Netword:ANDNet nh hnh 4.9.

Ch rng kt qu hun luyn ca cc u ra v sai s c ANDNet gn vo chng. Vic lm ny ca chng d dng nhn ra sau khi chng c a ra t dng lnh. Sau khi kch vo nhn Training Parameter, n cho ta bit cc thng s nh s ln hun luyn, sai s ch. Ta c th thay i cc thng s ny nu ta mun. Kch chut vo Train Network hun luyn mng pcrceptron, ta c kt qu nh hnh 4.10. 115

Vy, mng c hun luyn d sai lch bng 0 chu k th 4 (ch rng cc dng mng khc thng khng th hun luyn c sai lch bng 0 m sai lch ca chng thng bao hm trong mt phm vi rng. Theo bn miu t chng ta v th sai lch ca chng trn ta loga ng hn trn ta tuyn tnh v d n dng trn cho mng perceptron). Ta c th kim tra rng mng c hun luyn cho sai lch bng 0 bng vic s dng u vo p v m phng mng. lm iu ny, ta vo ca s Network/Data Manager v kch vo Network Only: Simulate, khi xut hin ca s. Netword: ANDNet kch vo Simulate. Lc ny menu Input pull-down tri xung ch r p l u vo v nhn ra l ANDNet_outputsSim phn bit n t u ra hun luyn. Kch vo Simulate Network gc di bn phi, quan st Network/Data Manager ta s thy gi tr mi ca u ra: ANDNet_outputsSim. Kich p vo n, mt ca s d liu nh: ANDnet_outputsSim m ra vi tr s [0 0 0 1]. Vy, mng thc hin cng logic AND cc u vo, n cho ra gi tr 1 u ra ch trong trng hp cui cng, khi c 2 u vo l 1.
4.5.4. Xut kt qu Perceptron ra vng lm vic

xut cc u ra v sai s ca mng ra ca s vng lm vic ca MATLAB, ta kch vo nt thp hn bn tri ca ca s Network:ANDNet i n phn sau Network/Data Manager. Ch u ra v sai s ca ANDNet c lit k trong bn lit k cc u ra v sai s (Outputs and Error) phn bn phi. Kch tip Export ta c ca s Export hoc Save from Network/Data Magager. Kch vo ANDNet_outputs v ANDNetcrrors lm ni r chng, sau kch vo nt Export. By gi 2 bin c th c vng lm vic dng lnh. kim tra iu ny, t ca s lnh ta g who thy tt c cc bin nh ngha. Kt qu nh sau:
who

116

Cc bin l:
ANDNet_errors ANDNet outputs

Ta c th g ANDNe_toutputs v ANDNet_errors nhn c kt qu sau: ANDNet_outputs =

0 0 0 1 and ANDNet_errors = 0000

Ta c th xut p, t v ANDnet ra ng m phng. Ta c th lm iu ny v kim tra li vi lnh who chc chn rng chng c ca s lnh. By gi ANDNet c xut ra ta c th nhn c m t mng v kho st ma trn trng ca mng. V d:
ANDNet.iw{1,1} gives ans = 21 Similarly, ANDNet.b{1} yiclds ans = 4.5.5. Xo ca s d liu mng (Network/Data Window)

Ta c th xo c s d liu mng bng cch lm sng bin (v d p) ri kch nt Delete cho ti khi tt c cc mc trong hp lit k bin mt, bng cch lm ny, chng ta bt u t vic xo danh sch. Mt cch khc l ta c th thot MATLAB, khi ng li MATLAB, i vo nntool c ca s Netword Data Manager xo. Tuy nhin vic gi li nhng d liu ta xut ra ca s dng lnh nh p, t... t v d perceptron, chng khng thay i khi ta xo Netword/Data Manager.
4.5.6 Nhp t dng lnh

n gin, ta thot khi MATLAB, khi ng li ln na v g bnh nntool bt u mt trang mi. Thit lp vc t mi:
r = [0; 1; 2; 3] r=

117

0 1 2 3

Kch vo Import v t tn ni gi n l R ( phn bit vi tn bin t dng lnh v bin trong GUI). Ta s c ca s nh hnh 4.11. By gi kch vo Import v kim tra li bng cch nhn vo Network/Data Manager thy bin R nh l mt u vo.
4.5.7. Ct bin vo file v np li n

a ra Network/Data Manager v kch vo New Netword dt tn cho mng l mynet. Kch vo Create, tn mng mynet c th xut hin trong ca s Network/Data Manager. Tng t nh ca s Manager kch vo Export. Chn mynet trong danh sch bin ca ca s Export or Saye v kch vo Save. Cc hng dn ny ct vo ca s Save to a MAT file. Ct file mynetfile. By gi, ri khi mynet trong GUI v tm li n t file ct. u tin, chuyn n Data/Netword Manager, mynet ni ln v kch vo Delete. Sau kch vo Import, ca s Import or Load to Network/Data Manager m ra. Chn nt Load from Disk v g mynetfile nh MAT-file Name. By gi kch vo Browse m ra ca s Select MAT file vi file mynetfile nh mt s la chn rng ta c th chn nh l mt bin nhp. Mynetfile ni ln, n vo Open v ta tr v ca s Import or Load to Netword/Data Manager. Trong danh sch Import As, chn Netwrork, mynet ni ln v kch vo Load a mynet n GUI. By gi ta c trong ca ca s GUI Netword/Data Manager.

118

Chng 5

MNG TUYN TNH

5.1. M U 5.1.1. Khi nim

Mng tuyn tnh c cu trc tng t nh mng perceptron, nhng hm chuyn ca n l hm tuyn tnh (khc vi hm chuyn hard-limiting ca perceptron). V vy cho php u ra ca mng nhn c gi tr bt k, trong khi u ra ca perceptron ch nhn gi tr 0 hoc 1. Khi a vo mng tuyn tnh mt tp vc t vo n s a ra vcc t p ng tng ng. i vi mi vc t vo, ta c th tnh ton vc t ra ca mng. S sai khc gia vc t vo v vc t ch ca n l sai lch. Ta c th tm gi tr ca hm trng v dc sao cho tng ca cc bnh phng sai lch l cc tiu hoc nh hn mt gi tr xc nh no . iu ny hon ton c th lm c bi v h tuyn tnh c sai lch n cc tiu. Trong a s cc trng hp, ta c th tnh ton mng tuyn tnh mt cch trc tip sao cho sai lch l cc tiu i vi cc vc t vo v vc t ch nh sn. Mt s trng hp khc cc bi ton s khng cho php tnh trc tip. Tuy nhin, ta lun lun c th hun luyn mng c sai lch cc tiu bng vic s dng thut ton bnh phng trung bnh nh nht (Widrow-Hoff). Trong chng ny, Sau khi tm hiu cu trc mng lc tuyn tnh, chng ta s tm hiu 2 hm s dng trong Matlab: Hm Newlin dng thit lp lp mng tuyn tnh v hm newlind dng thit k lp tuyn tnh cho mt mc ch c th.
5.1.2. M hnh nron

Mt nron tuyn tnh vi R u vo c chi ra trn hnh 5.1. Mng tuyn tnh c cu trc c bn tng t nh perceptron, ch c im khc l y dng dng hm chuyn tuyn tnh, ta gi n l hm purelin. Hm chuyn tuyn tnh tnh ton u ra ca nron bng cch iu chnh gi tr a vo:
a = purelin(n) = purelin(Wp + b) = Wp + b.

Nron ny c th c hun luyn hc mt hm xc nh u ra hoc xp x tuyn tnh mt hm phi tuyn. Mng tuyn tnh ng nhin khng ph hp bc thc hin cc tnh ton 119

cho h phi tuyn.

Hnh 5.1a,b. Nron vi R u vo a) M hnh nron, b) Hm chuyn tuyn tnh

Hnh 5.2a,b. Kin trc mt lp mng tuyn tnh a) Kin trc y , b) K hiu tt
5.2. CU TRC MNG 5.2.1. Cu trc

Mng tuyn tnh nh hnh 5.2, c mt lp, S nron lin h vi R u vo thng qua ma trn trng lin kt W. Trong s S l di ca vc t u ra a. Ta biu din mng tuyn tnh lp n, tuy nhin mng ny cng c nng lc nh mng tuyn tnh nhiu lp. Thay th cho mi mng tuyn tnh nhiu lp c mng tuyn tnh lp n tng ng. 120

5.2.2. Khi to nron tuyn tnh (Newlin)

Xt mt nron n gin vi 2 u vo c s nh hnh 5.3a. Ma trn trng lin kt trong trng hp ny ch c 1 dng. u ra ca mng l:
a = purelin(n) = purelin(wp + b) = Wp + b

hoc

a = w1,1p1 + w1,2P2 + b.

Ging nh perccptron, mng tuyn tnh c ng phn chia bin gii dc xc nh bng cc vc t vo i vi n mng vo n bng 0. n - 0 th biu thc Wp + b = 0. Hnh 5.3b ch r v d v ng phn chia bin gii nh sau: Cc vc t vo pha trn, bn phi c mu sm s dn n u ra ln hn 0. Cc vc t vo pha di bn tri c mu sm s dn n u ra nh hn 0. Nh vy mng tuyn tnh c th dng phn loi i tng thnh 2 loi. Tuy nhin n ch c th phn loi theo cch ny nu nh i tng l tuyn tnh tch ri. Nh vy mng tuyn tnh c hn ch ging nh mng perceptron. Ta c th khi to mng vi lnh:
net = Newlin([-1 1; -1 1],l);

Hnh 5.3a,b. Nron vi 2 u vo Ma trn th nht ca i s ch r gii hn ca 2 u vo v hng. i s cui cng, '1' ni ln mng c mt u ra. Trong lin kt v dc c thit lp mc nh bng 0. Ta c th quan st gi tr hin thi ca chng vi lnh:
W = net.IW{1,1} W= 00

v
b = net.b{1} b=

121

Tuy nhin ta c th cho hm trng gi tr bt k nu ta mun, chng hn bng 2 v 3 theo th t nh sn: net.IW{1,1} = [2 31; W = net.IW{1,1} W= dc cng c th cho trc v kim tra tng t nh vy:
net.b{1} =[-41; b = net.b{1} b= 4

Ta c th m phng mng tuyn tnh i vi vc t vo c th, v d P = [5;6]; ta c th tm c u ra mng vi hm sim.

a = sim(net,p) a= 24

Tm li, ta c th khi to mng tuyn tnh vi hm newlin, iu chnh cc phn t ca mng nu ta mun v m phng mng vi hm sim.
5.3. THUT TON CC TIU TRUNG BNH BNH PHNG SAI LCH

Ging nh lut hc perceptron, thut ton cc tiu trung bnh bnh phng sai lch (LMS) c lm mu gim st hun luyn mng tuyn tnh, trn chng lut hun luyn c chun b y vi tp mu cc hnh vi ca mng mong mun:
{p1, t1}, {P2, t2},...,{PQ, tQ)

Trong Pq l u vo, tq l p ng ch u ra. Khi mi u vo c a ti mng, u ra mng c so snh vi ch. Sai s c tnh ton nh l hiu gia ch ra v u ra mng. Ta mun gi tr trung bnh ca tng cc sai s ny t cc tiu mse mse = 1 Q e(k)2 =(t(k) a(k))2 Q k =1

Thut ton cc tiu trung bnh bnh phng sai lch s iu chnh hm 122

trng v dc ca mng tuyn tnh sao cho gi tr trung bnh bnh phng sai s dt cc tiu. Do chi s biu din sai s trung bnh bnh phng l mt hm ton phng nn ch s biu din s c mt cc tiu ton cc, gn cc tiu hoc khng cc tiu tu thuc c im ca vc t vo.
5.4. THIT K H TUYN TNH

Khc vi cc kin trc mng khc, mng tuyn tnh c th c thit k trc tip nu ta bit tng cp vc t vo/ch. c bit gi tr ca hm trng v dc mng c th thu c t cc tiu ha trung bnh bnh phng sai lch bng cch s dng hm newlind. Gi thit cc u vo v ch ca mng l:
P = [1 2 3]; T= 12.0 4.1 5.9];

th thit k mng ta dng lnh:

net = Newlind(p,T);

Ta c th m phng hnh vi mng kim tra kt qu thit k bng lnh:

Y = sim(net,P) Y= 2.0500 4.0000 5.9500 5.5. MNG TUYN TNH C TR 5.5.1 Mt tr

Ta cn mt khu mi l mt tr to nn nng lc s dng y cho mng tuyn tnh, v d mt mt tr c ch ra nh sau, c mt u vo tn hiu i vo t tri v qua N-1 khu tr. u ra ca TDL l vc t kch thc N to ra t tn hiu vo thi im hin ti, tn hiu vo trc v.v...
5.5.2. Thut ton LMS (learnwh)

Thut ton LMS hay thut ton hc Widrow-Hoff c xy dng da trn th tc h thp dc gn ng. y, mt ln na mng tuyn tnh c hun luyn trn cc mu ca trng thi chnh xc. Widrow v Hoff cho rng h c th c lng sai s trung bnh bnh phng bng vic s dng bnh phng sai s mi ln tnh lp. Nu ta ly mt phn o hm ca bnh phng sai trng v dc ln lp th k ta c: 123

lch theo hm

trong pi(k) l phn t th i ca vc t vo trong ln lp th k.

iu c th n gin ho:

cui cng s thay i ca ma trn trng v dc s l:

2e(k)p(k) v 2e(k)

y l 2 biu thc dng c bn ca thut ton hc Widrow-Hoff (LMS). Kt qu trn c th m rng cho trng hp c nhiu nron, khi la vit di dng ma trn nh sau:
W(k + 1) = W(k) + 2e(k)PT(k) B(k + 1) = b(k) + 2e(k)

y sai lch e v dc b l cc vc t cn l tc hc, nu ln s hi t hc nhanh, song nu ln qu c th dn n mt n nh v sai s c th tng. m bo hc n nh, tc hc cn nh hn nghch o ca gi tr ring ln nht ca ma trn tng quan PTP ca vc t vo. Hm learnwh trong Matlab thc.hin tt c cc cng vic tnh ton. N tnh ton s thay i ca hm trng v dc theo cng thc: 124

dw = lr*e*p' v db = lr*e.

Hng s 2 trong cc cng thc trn c thm vo m ca tc hc lr. Hm maxlinlr tnh ton tc hc n nh cc i l: 0,999.pTp.
5.5.3. S phn loi tuyn tnh (train)

Mng tuyn tnh c th c hun luyn thc hin vic phn loi tuyn tnh vi hm train. Hm ny a ra mi vc t ca tp cc vc t vo v tnh ton s thay i hm trng v dc ca mng tng ng vi mi u vo theo learnp. Sau mng c t li cho ng vi tng ca tt c cc iu chnh . Ta gi mi mt ln thng qua cc vc t vo l mt kha (epoch). Cui cng train p dng cc u vo vi mi mi, tnh ton cc u ra, so snh chng vi ch v tnh ton sai lch bnh qun phng. Nu sai s ch l ph hp hoc nu t ti s chu k hun luyn t trc th s hun luyn dng. Train tr v mng mi v ghi li kt qu hun luyn. Nu khng th train chuyn sang kha hun luyn khc. Ngi ta chng minh c rng thut ton LMS hi t khi cc th tc ny c thc hin.

Hnh 5.5. Nron vi 2 u vo

V d: Xt mng tuyn tnh n gin c 2 u vo, ta cn hun luyn mng

c cp vc t vo-ch nh sau:

y c 4 vc t vo, ta mun mng a ra u ra tng ng vi mi vc t vo khi vc t ny xut hin. Ta s s dng hm thun nhn c hm trng v dc mng a ra ch ng cho mi vc t vo. Gi tr ban u ca hm trng v dc c mc nh bng 0. Ta s t ch sai s l 0,1 so vi gi tr chp nhn (mc nh ca n l 0)
P = [2 1 -2 -1;2 -2 2 1];

125

t = [0 1 0 1]; net = newlin([-2 2; -2 2],1); net.trainParam.goal= 0.1; [net, tr] = train(net,P,t);

Bi ton chy a ra bng ghi hun luyn sau y:

TRAINB, Epoch 0/100, MSE 0.510.1. TRAINB, Epoch 251100, MSE 0.181122/0.1. TRAINB, Epoch 501100, MSE 0.111233/0.1. TRAINB, Epoch 64/100, MSE 0.0999066/0.1. TRAINB, Performance goal met.

Nh vy, sau 64 k hun luyn ta t c mc tiu ra. Hm trng v dc mi l:

weights = net.IW{1,1} weights = -0 0615 -0.2194 bias = net.b(1) bias = [0.5899]

Ta c th m phng mng nh sau:

A = sim(net, p) A= 0.0282 0.9672 0.2741 0.4320,

Sai s c tnh ton:

err = t - sim(net,P) err = 0 0282 0.0328 -0.2741 0.5680

Ch : Ta c th hun luyn thm mt s chu k na, song sai s vn khc khng v khng th t c sai s ch bng 0. iu ny ni ln hn ch v nng lc ca mng tuyn tnh.
5.6. MT S HN CH CA MNG TUYN TNH

126

Mng tuyn tnh ch c th hc mi quan h tuyn tnh gia cc vc t vo v ra. Do vy, n khng th tm c li gii cho mt s bi ton. Tuy nhin, trong lc li gii thc t khng tn ti, mng tuyn tnh s cc tiu ha tng ca bnh phng cc sai lch nu nh tc hc (lr) ca n nh. Mng s tm c cng gn li gii cng tt da vo s tuyn tnh t nhin ca kin trc mng. Thuc tnh ny tn ti l do b mt sai s ca mng tuyn tnh c nhiu ng parabol, cc parabol ch c mt cc tiu v thut ton h thp dc cn phi a ra li gii t cc tiu . Mng tuyn tnh c mt s nhc im sau:
i vi cc h thng xc nh

Xt mt h thng xc nh. Gi thit rng mng c hun luyn vi b 4 phn t vc t vo v 4 ch. Li gii y tha mn wp + b = t i vi mi vc t vo c th khng tn ti do c 4 biu thc rng buc m ch c 1 hm trng v 1 dc iu chnh. Tuy nhin s lm cho cc tiu sai s.
Cc h thng khng xc nh

Kho st mt nron tuyn tnh n gin vi 1 u vo. Ln ny ta s hun luyn n ch mt ln, mt phn t vc t vo v mt phn t vc t ch
P = [+1.0]; T = [+0.5];

Ch rng khi ch c mt s rng buc xut hin t cp vo/ch n gin c 2 s bin thin l hm trng v dc. C nhiu bin thin hn so vi kt qu bt buc trong bi ton khng xc nh vi s bc gii v hn.

127

Chng 6

H M - NRON (FUZZY-NEURAL)
6.1 S KT HP GIA LOGIC M V MNG NRON 6.1.1 Khi nim

Khi kho st mng nron v lgc m, ta thy mi loi u c im mnh, im yu ring ca n. i vi logic m, ta d dng thit k mt h thng mong mun ch bng cc lut Nu - th (If-Then) gn vi vic x l ca con ngi. Vi a s ng dng th iu ny cho php to ra li gii n gin hn, trong khong thi gian ngn hn. Thm na, ta d dng s dng nhng hiu bit ca mnh v i tng ti u h thng mt cch trc tip. Tuy nhin, i i vi cc u im h iu khin m cn tn ti mt s khuyt nh vic thit k v ti u ha h logic m i hi phi c mt s kinh nghim v iu khin i tng, i vi nhng ngi mi thit k ln u iu hon ton khng n gin. Mt khc cn hng lot nhng cu hi khc t ra cho ngi thit k m nu ch dng li t duy logic m th hu nh cha c li gii, v d: S tp m trong mi bin ngn ng cn chn bao nhiu l ti u? Hnh dng cc tp m th no? Vi tr mi tp m u? Vic kt hp cc tp m nh th no? Trng s ca mi lut iu khin bng bao nhiu? Nu nh tri thc cn a vo h c th hin di dng cc tp d liu (iu ny thng gp khi thu thp v x l d liu nhn dng i tng) th lm th no?... i vi mng nron, chng c mt s u im nh x l song song nn tc x l rt nhanh; Mng nron c kh nng hc hi; Ta c th hun luyn mng xp x mt hm phi tuyn bt k, c bit khi bit mt tp d liu vo/ra... Song nhc im c bn ca mng nron l kh gii thch r rng hot ng ca mng nron nh th no. Do vy vic chnh sa trong mng nron rt kh khn. Hai tiu ch c bn tr gip cho ngi thit k logic m v mng nron th hin tri ngc nhau (bng 6.1). Bng 6.1

128

Tiu ch Th hin tri thc

Mng nron

Logic m

Khng tng minh, Tng minh, d kim_ kh gii thch v kh chng hot ng v d sa i. sa i. C kh nng hc Khng c kh nng hc, thng qua cc tp d ngi thit k phi t thit k tt c. liu.

Kh nng hc

T nhng phn tch trn, ta thy nu kt hp logic m v mng nron, ta s c mt h lai vi u im ca c hai: logic m cho php thit k h d dng, tng minh trong khi mng nron cho php hc nhng g m ta yu cu v b iu khin. N sa i cc hm ph thuc v hnh dng, v tr v s kt hp,... hon ton t ng. iu ny lm gim bt thi gian cng nh gim bt chi ph khi pht trin h (hnh 6.1).

Hnh 6.1. M hnh h m - nron

6.1.2. Kt hp iu khin m v mng nron a. Cu trc chung ca h m - nron

C nhiu cch kt khc nhau hp mng nron vi logic m. Cu trc chung ca h M - Nron (fuzzyneuro) nh hnh 6.2. S dng cc nron RBF m t di y, s m ho c th t c rt d dng. Mi bin ngn ng c xy dng bng 1 nron. Ch rng kiu hm ca nron khng nht thit phi l hm Gaus m c th l hm khc. Trong phn ny hm lin thuc kiu tam gic c th khng c s dng v chng khng trn. Cc nron m ho ng vai tr lp vo ca mng. 129

Hnh 6.2. Cu trc chung ca h m-nron Tip theo, lp n l ton t MIN. i khi hm ny c thay bng ton t PROD. Mi nron nhn vi gi tr u vo ca n v s dng s ny nh u ra ca n. Lp th 3 c xy dng bi cc nron MAX (ta c th s dng SUM thay vo ). Lp ny tng t lp trc nhng chng cng cc u vo. Nu cc lut bit, ta s ch c mi lin h nron PROD c s dng vi cc khi tng tng ng, ni cch khc l xy dng ng lin lc gia mi nron ca 2 lp ny v s dng php nhn cho mi kt ni. Vic thc hin tng quy tc nh vy c nh ngha thi im u. Khi ti u mng, gi tr ca mi quy tc l 1 hoc 0 (lut hp l hoc khng hp l). Nh vy, cc lut c s nh l mt nhn t b sung hon thin mng. Cui cng, tt c cc nron tng c lin kt vi nron n to thnh lp ra. Khi ny xc nh mt gi tr cng bng vic xy dng tch ca mi v tr MAX ca nron vi gi tr tng ng ca n v phn chia tng ny theo v tr nron. y chnh l phng php singleton xc nh gi tr r u ra. Mng c tham s sau thay i cc c trng ca n: - Gi tr trung bnh ca mi hm lin thuc (vi l gi tr cc i ca n). - Chiu rng ca mi hm lin thuc. - Tnh hp l (gi tr) ca mi quy tc. Nhn chung, gi tr ca mi quy tc khng nht thit phi l 1 hoc 0, ch yu chng nm gia 2 gi tr ny. Nu bng 0 ta coi lut b mt, bnh thng ta coi mt lut bng 1 hoc bng 0 vi mt mc nht nh.
b. Biu din lut If-Then theo cu trc mng nron

Xt h SISO, lut iu khin c dng: 130

Ri = Nu x l Ai Th y l Bi

(6.1)

vi Ai, Bi l cc tp m, i = 1,..., n. Mi lut ca (6.1) c th chuyn thnh mt mu d liu cho mng nron a tng bng cch ly phn Nu lm u vo v phn Th lm u ra ca mng. T ta chuyn khi lut thnh tp d liu sau:
{(A1,B1),...,(An,Bn)}.

i vi h MISO, vic biu din khi lut di dng tp d liu cng tng t nh i vi h SISO.
V d: Lut Ri : Nu x l Ai v y l Bi Th z l Ci (6.2)

vi Ai, Bi, Ci l cc tp m, i = 1,..., n. Tp d liu ca khi lut l: {(Ai,Bi),Ci}, 1 i n. Cn i vi h MIMO th khi lut :
Ri : Nu x l Ai v y l Bi Th r l Ci v s l Di (6.3)

vi Ai, Bi, Ci, Di l cc tp m, i = 1,..., n. Tp d liu ca khi lut l: {(Ai,Bi),(Ci,D)}, 1 i n. C hai cch thc hin lut "Nu...Th" (If...Then) da trn gii thut lan truyn ngc sai lch :
Phng php Umano - Ezawa

Theo phng php ny, mt tp m c biu din bi mt s xc nh cc gi tr ca hm lin thuc ca n. Ta thc hin theo cc bc sau: - t [1,2] cha min xc nh ca bin ngn ng u vo (tc min xc nh ca tt c Ai). - t [1,2] cha min xc nh ca bin ngn ng u ra (tc min xc nh ca tt c Bi). - Vi M, N nguyn dng, M 2 v N 2 ta t: xi = i + (i - 1)(2 1)/(N 1) yj = 1 + (j - 1)( 2 - 1)/(M 1) vi 1 i N v 1 j M. 131

- Ri rc ha cc tp m thnh tp cc cp vo-ra (hnh 6.3). {(Ai(x1),..., Ai(XN)),(Bi(y1),...,Bi(yM))}, vi 1 i n. t aij = Ai(xj), bij = Bi(yj), khi mng nron m s chuyn thnh mng nron r vi N u vo v M u ra. T c th cho mng hc bng gii thut hun luyn mng nron bit.

Hnh 6.4. Hm lin thuc cc tp m vo v ra Xt mt h c 3 lut m vi cc tp m vo v ra nh hnh 6.4: R1 : Nu x l A1 Th y l B1; R2 : Nu x l A2 Th y l B2; R3 : Nu x l A3 Th y l B3; vi cc hm ph thuc:

A1 (u) = 1- 2x

0x-

1 2

A2 (u) = 1 2|x - 0,5| A3 (u) = 2x -1 B1 = -y B2 = 1 2|y| B3 = y

0x1

1 xl 2 1 1 y 2 2 0 y 1.
132

-1 y 0 -

+ Tp d liu c rt ra t cc lut ny c dng:

{(A1,B1), (A2,B2), (A3,B3)}.

+ t [1, 2] = [0 1] l min xc nh ca bin ngn ng u vo. + t [1, 2] = [-1 1] l min xc nh ca bin ngn ng u ra. + t M = N = 5, Ta c:

xi = (i - 1)/4, vi 1 i 5

x1 = 0; x2 = 0,25; x3 = 0,5; x4 = 0,75; x5 = 1

v yj = 1 + (j - 1)2/4 = -3/2 + j/2, vi 1 j 5

y1 = -1; y2 = -0,5; y3 = 0; y4 - 0,5; y5 = 1.

+ Tp d liu gm 3 cp vo-ra l:

{(a11,...,a15),(b11,...,b15)} {(a21,...,a25),(b21,...,b25)} {(a31,...,a35),(b31,...,b35)} vi a1i = small(xi) a2i = medium(xi) a3i = big(xi) Nh vy ta c: {(1;0,5;0;0;0),(1;0,5;0;0;0)} {10;0,5;1;0,5;0),(0;0;1;0;0)} {10;0;0;0,5;1),(0;0;0;0,5;1)}.
6.2. NRON M

b1j = negative(yj) b2j = zem(yj) b3j = positive(yj)

Xt mng nron nh hnh 6.5. Trong : cc tn hiu vo-ra v cc trng s u l s thc; Hai nron u vo khng lm thay i tn hiu nn u ra ca n cng l u vo. Tn hiu xi kt hp vi trng s wi to thnh tch:

133

pi = wixi,

i = 1,2.

u vo ca nron tng ra l s kt hp ca cc pi theo php cng: p1 + p2 = w1x1 + w2x2. - Nron ny dng mt hm chuyn f to u ra. V d hm chuyn l hm dng ch S n cc: f(x) = y = f(w1x1 + w2x2), f(x) = 1 1 + e x

1 1 + e x

Mng nron dng php nhn, php cng v hm dng ch S c gi l mng nron chun. Nu mng nron dng cc php ton khc nh t-norm, t-conorm kt hp d liu c gi l mng nron lai. Mng nron lai l c s to ra cu trc nron m da trn cc php ton m. c mng nron m ta thc hin: Biu din cc u vo (thng l cc ph thuc) x1, x2 v trng s w1, w2 trn khong [0, 1]. - Mng nron lai c th khng dng cc php ton nhn, php ton cng hoc hm dng ch S bi v kt qu ca cc php ton ny c th khng nm trong khong [0, 1].
nh ngha: Mng nron lai l mng nron s dng tn hiu r v hm truyn r, song s kt hp x1 v w1 dng cc php ton t-norm, t-conorm hay cc php ton lin tc khc v s lin kt p1 v p2 dng cc hm t-norm, t-conorm hay cc hm lin tc khc, hm chuyn f c th l mt hm lin tc bt k.

Ch : i vi mng nron m th gi tr vo, gi tr ra, v trng s l nhng

s thc nm trong khong [0, 1].

Nron m AND (hnh 6.6)

Tn hiu xi v trng s wi c kt hp bi conorm S to thnh: pi = S(wi,xi), i = 1,2 Cc pi c tnh bi norm T to u ra ca nron. y = AND(p1,P2) = T(p1,p2) = T(S(w1,x1),S(w2,x2)). Nu T = min v S = max th nron m AND chnh l lut hp thnh minmax y = min{w1 v x1,w2 x2}. 134

Nron m OR (Hnh 6.7)

Tn hiu xi v trng s wi c kt hp bi norm T to thnh : pi = T(wi,xi), i = 1,2. Cc pi c tnh bi conorm S to u ra ca nron: y = OR(p1,p2) = S(p1,p2) = S(T(w1,x1),T(w2,x2)). Nu T = min v S = max th nron m OR chnh l hp thnh max-min y = max{w1 x1,w2 x2}.
6.3. HUN LUYN MNG NRON-M

i vi m hnh m, mi quan h phi tuyn vo-ra ph thuc rt nhiu vo cc phn vng m ca khng gian vo-ra. Do vic chnh nh hm lin thuc trong cc m hnh m tr nn rt quan trng. Trong mng nron m vic chnh nh ny c th xem nh l vn ti u dng gii thut hc gii quyt. u tin ta gi nh cc hm lin thuc c mt hnh dng nht nh. Sau ta thay i cc thng s ca hnh dng qua qu trnh hc bng mng nron. Nh vy ta cn mt tp d liu dng cc cp vo-ra mong mun cho mng nron hc v cng cn phi c mt bng cc lut s khi da trn cc hm ph thuc . Gi s cn thc hin nh x:
k yk = f(xk) = f( x1 ,..., x k ), vi k = 1,..., K. n

Ta c tp d liu : {(x1,y1),...,(xk,yk)}. Dng lut If-Then (nu - th) thc hin nh x ny:

Ri : Nu x1 l Ail v... v xn l Ain th y = zi, 1 i m

vi Aif l cc tp m c dng hnh tam gic v zi l s thc. t ok l gi tr ra ca h khi ta a vo xk. K hiu 1 l gi tr ra ca lut th i, c nh ngha theo tch Larsen:

135

(cng c th nh ngha cc t-norm khc). Gii m theo phng php trung bnh trng tm ta c:

Sai lch ca mu th k l: ek = 1 k k2 (o -y ) . 2

Dng phng thc gim hc zi trong phn kt qu ca lut Ri:

Cho rng mi bin ngn ng c 7 tp m nh hnh 6.8: {NB, NM, NS, ZE, PS, PM, PB}.

Hnh 6.8

Cc hm lin thuc c hnh dng tam gic c c trng bi 3 tham s: tm, rng tri, rng phi. Cc tham s ny ca tam gic cng c hc bng phng thc gim.
V d: Xt 2 lut m SISO

R1: Nu x l A1 Th y = z1 R2: Nu x l A2 Th y = z2 Gi s A1 v A2 c nh ngha bi :

vi a1, a2, b1, b2 l cc gi tr khi to ban u. Vy gi tr ra ca lut l:

136

Gi tr ra ca h m:

Gi s chng ta c tp d liu cn hc: {(x1, y1),...,(xk, yk)}. Nhim v ca chng ta l xy dng 2 lut m da trn cc tp m sa i, sao cho kt qu to ra tng thch vi cc cp vo-ra cho trc. nh ngha sai lch cho mu th k: Ek = Ek (a1,b1,a2,b2,z1,z2) = 1 k [o (a1,b1,a2,b2,z1,z2) - yk]2. 2

Dng phng thc gim hc:

tng t:

137

Hnh 6.9

Lut hc s n gin hn nu ta dng cc hm lin thuc c dng hnh 6.9:

khi A1(x) + A2(X) = 1, x. Vic sa i c thc hin nh sau :

138

Mng nron cho h m ny s nh hnh 6.10, mng ny gm 5 lp: Lp 1: Gi tr ra t nt chnh l ph thuc ca bin i vi tp m. Lp 2: To gi tr ra ca lut: 1 = A1; 2 = A2. Nhng nt ny c gn nhn T bi v chng ta c th chn nhiu php ton t-norm khc nhau cho php AND (V).

Hnh 6.10
Lp 3: Ly trung bnh: 1 =

1 1 + 2

2 =

2 1 + 2

Lp 4: Gi tr ra ca nron l tch ca zi v 1. Lp 5: Kt hp to gi tr ra cui cng ca h: z = 1z1 + 2z2. 6.4. S DNG CNG C ANFIS TRONG MATLAB THIT K H M - NRON (ANFIS and the ANFIS Editor GUI) 6.4.1. Khi nim

Cu trc c bn ca h thng suy lun m nh chng ta thy l m hnh thc hin s nh x cc thuc tnh vo n cc hm lin thuc vo, hm lin thuc vo n cc lut, cc lut n tp cc thuc tnh ra, cc thuc tnh ra n hm lin thuc ra v hm lin thuc ra n gi tr ra n tr hoc quyt nh kt hp vi u ra. Chng ta mi ch cp n cc hm lin thuc c b tr trc v mc no vic chn cn tu tin. ng thi chng ta 139

cng mi ch p dng cc suy din m m hnh ho h thng m cu trc lut v c bn c nh trc bng vic s dng s th hin ca thuc tnh ca cc bin trong m hnh. Trong phn ny, ta s vic s dng hm anfis v ANFIS Editor GUI trong b cng c Fuzzy Logic Toolbox ca Matlab. Cng c ny p dng k thut suy din m m hnh ho i tng. Nh ta bit phn suy din m GUIS hnh dng ca hm lin thuc ph thuc vo cc tham s, khi thay i cc tham s s thay i hnh dng ca hm lin thuc. Thay v nhn vo d liu chn tham s hm lin thuc chng ta thy cc hm lin thuc c th c chn mt cch t ng. Gi thit ta mun p dng suy din m cho h thng m i vi n ta c mt tp d liu vo/ra, ta c th s dng m hnh ho, m hnh sp ti hoc mt vi phng php tng t. Khng nht thit phi c cu trc m hnh nh trc lm c s cho thuc tnh ca cc bin trong h thng. C mt vi m hnh trng thi trn n chng ta khng th nhn thy d liu v khng th hnh dung c hnh dng ca hm ln thuc. ng hn l vic chn cc thng s lin kt vi cc hm lin thuc nh sn l tu tin, cc thng s ny c chn sao cho lm bin i tp d liu vo/ra n bc c miu t cho dng ca cc bin trong cc gi tr d liu. Do c gi l k thut hc neuro-Adaptive hp thnh anfis.
6.4.2. M hnh hc v suy din m thng qua ANFIS (Model Learning and Inferencc Through ANFIS)

tng c bn ca k thut hc neuro-adaptive rt n gin. K thut ny a ra c ch cho m hnh m c th tc hc thng tin v tp d liu theo th t c tnh cc tham s ca hm lin thuc m n cho php kt hp vi h thng suy din m theo hng d liu vo/ra nht nh. Phng php hc ny lm vic tng t nh mng nron. B cng c lgic m dng thc hin vic iu chnh tham s ca hm lin thuc c gi l anfis. Ta c th m anrs t dng lnh hoc t giao din ho (ANFIS Editor GUI). Hai cch ny tng t nhau, chng c s dng hon i nhau. Tuy nhin, gia chng cng c i cht khc bit (chng ta s bn n phn sau).
a/ Tm hiu v ANFIS

ANFIS xut pht t tin Anh l Adaptive neuro-fuzzy infercnce system. S dng tp d liu vo/ra c sn, hm anfis xy dng nn h thng suy din m (FIS), cc thng s hm lin thuc ca n c iu chnh nh s dng cc thut ton hun luyn ca mng nron nh thut ton lan truyn ngc hoc kt hp lan truyn vi phng php bnh phng cc tiu. iu cho php h m ca ta "hc" t tp d liu chng c m hnh. 140

b) Cu trc v s iu chnh tham s ca FIS

Mt kiu mng c cu trc tng t mng nron, n nh x cc u vo qua cc hm lin thuc vo vi cc thng s tng ng v sau l thng qua cc hm ra vi cc tham s tng ng to nn cc u ra c th c s dng gii thch nh x vo/ra. Cc thng s tng ng vi hm lin thuc s thay i thng qua qu trnh hc. Vic tnh ton cc tham s ny (hoc vic iu chnh chng) thc hin d dng bng vc t gradient n a ra gii hn theo cch tt cho h thng suy din m c m hnh ho d liu vo/ra theo tp cc tham s nht nh. Ta bit, vc t gradient c p dng cho mt vi th tc ti u ct iu chnh cc tham s sao cho gim nh gi tr sai s (thng c nh ngha bng tng bnh phng sai lch gia u ra hin thi v u ra mong mun). Anfis s dng iu theo gii thut lan truyn ngc hoc kt hp s c lng bnh phng cc tiu v s lan truyn ngc cho s c lng tham s hm lin thuc.
6.4.3. Xc nhn d liu hun luyn (Familiarity Brecds Validation) a. Tm hiu d liu

Phng thc to mu c s dng bi anfis ging nh cc k thut nhn dng h thng khc. u tin ta a ra mt cu trc tham s mu (lin kt cc u vo ti cc hm lin thuc vi cc lut ti cc u ra ti cc hm lin thuc...). K n, l thu thp d liu vo/ra vo mt dng sao cho tin li cho s hun luyn ca anfis. Ta c th s dng anfis hun luyn m hnh FIS nhm m phng d liu hun luyn a vo n sa i cc tham s ca hm lin thuc theo tiu chun sai s d la chn. Ni chung, kiu m hnh ny s lm vic tt nu d liu a vo anfis cho s hun luyn tham s cc hm lin thuc i din y cho cc c tnh ca tp d liu m n c FIS hun luyn ginh cho m hnh. iu ny khng phi lun lun xy ra, tuy nhin, trong mt vi trng hp trong qu trnh thu thp d liu, do nh hng ca nhiu o lng m d liu hun luyn khng th i din cho tt c cc thuc tnh ca d liu s c mt m hnh.
b. Xc nh m hnh bng cch s dng cc phn d liu th v kim tra (Model Validation Using Checking and Testing Data Sets)

Cng nhn gi tr mu (xc nh mu) l qu trnh trong cc vect vo t d liu vo/ra c t ti ni m FIS cha c hun luyn, mu c a ti hun luyn FIS mu FIS n trc gi tr d liu u ra tng ng c tt hay khng. N c thc hin bi b son tho ANFIS GUI. Ta c th s dng mt loi d liu khc cng nhn gi tr mu trong anfis. Hnh thc cng nhn d liu ny c hnh dung nh mt h thng d liu kim tra c s dng iu chnh s cng nhn gi tr d liu. Khi d liu kim tra c a ti anfis cng ging nh d liu hun luyn, mu FIS la chn 141

cc tham s lin quan c sai s mu d liu nh nht. Mt vn t ra l vic cng nhn gi tr d liu to mu s dng cc k thut thch nghi l la chn tp d liu tiu biu cho d liu mu hun luyn, nhng khc bit vi d liu hun luyn c thit lp khng phi phn hi cho qu trnh hp thc ho thiu hiu qu. Nu ta thu thp mt lng ln cc d liu, th d liu ny cha ng y cc c tnh tiu biu v vy qu trnh thu thp d liu phc v mc ch kim tra hoc th s d dng hn. Tuy nhin nu ta mun thc hin cc php o mu, c th d liu hun luyn khng bao gm tt c cc c tnh tiu biu m ta mun. tng c bn ng sau vic s dng d liu kim tra cho hp thc ho l sau mt im nht nh trong qu trnh hun luyn, mu.bt u vt qu phn d liu hun luyn c thit lp. Theo nguyn tc, sai s mu cho thit lp d liu kim tra dng nh gim khi vic hun luyn xy r ti im m vic iu chnh qu mc bt u, v sau sai s mu cho d liu kim tra t ngt tng. Trong v d u phn di y, hai d liu ging nhau c s dng hun luyn v kim tra, nhng phn d liu kim tra b sa i bi mt lng ting n nh. Bng vic kim tra chui sai s trong qu trnh hun luyn, r rng l d liu kim tra khng c tt cho cc mc ch hp thc ho mu. V d ny minh ho cch s dng b son tho ANFIS GUI so snh cc d liu.
c. Mt s hn ch ca Anfis

Anfis phc tp hn cc h thng suy lun m m chng ta cp chng 1 rt nhiu, v cng khng sn c nh cc tu chn ca h thng suy lun m. c bit, anfis ch h tr cho cc h thng m theo m hnh Sugno v chng cn c nhng rng buc sau: L cc h thng loi Sugeno v tr 0 hoc 1. C mt u ra n, gii m bng phng php trung bnh trng tm. Tt c cc hm lin thuc u ra phi cng loi, hoc tuyn tnh hoc bt bin. Khng chia s lut iu khin. Cc lut khc nhau khng th chia s cng mt hm lin thuc u ra, c th l s lng cc hm lin thuc u ra phi bng s lng cc lut. C mt trng lng nht nh (ng nht) cho mi mt nguyn tc. Khi khng train th nhng rng buc trn, cu trc FIS s b sai s. Hn na, anfis khng th chp nhn cc tu chn thng thng m suy lun m c bn cho php. V vy chng ta khng th ty to ra cc hm lin thuc v cc phng php gii m ca mnh m phi s dng nhng chc nng cho. 142

6.5. S DNG B SON THO ANFIS GUI 6.5.1. Cc chc nng ca ANFIS GUI

Trong phn ny, chng ta cng tm hiu cch khai thc b son tho h m - nron thng qua giao din ha. khi ng b son tho ANFIS GUI, g: anfisedit. Ca s tho GUI sau y xut hin trn mn hnh (hnh 6.11). T b son tho GUI ny ta c th: Ti d liu (hun luyn, th v kim tra) bng cch la chn nhng nt thch hp trong phn Load tha ca GUI v bm vo Load Data. D liu ti v c v trong phn th. To mt m hnh FIS ban u hoc ti mt m hnh FIS ban u bng cch s dng cc la chn trong Generate FIS ca GUI. Xem cu trc mu FIS khi FIS ban u c to hoc ti bng cch nhy vo nt Structure. Chn phng php ti u tham s m hnh FIS: truyn ngc hoc kt hp truyn ngc vi binh phng nh nht (phng php lai). Chn s k hun luy hun luyn m hnh FIS bng cch nhn vo nt Train Now. Hun luyn ny iu chnh cc tham s hm lin thuc v cc s hun luyn (v/ hoc d liu kim tra) cc s sai s trong phn s . Quan st m hnh FIS thy dc d liu hun luyn, kim tra hoc th d liu u ra bng cch n nt Test Now.

143

Chc nng ny v d liu th tng phn vi u ra FIS trong phn s . Ta c th s dng thanh thc n b son tho ANFIS GUI ti mt hun luyn FIS ban u, ghi FIS hun luyn, m mt h thng Sugeno hoc m bt k mt GUI no phn tch s hun luyn ca m hnh FIS.
6.5.2. Khun dng d liu v b son tho ANFIS GUI: kim tra v hun luyn (Data Formalities and the ANFIS Editor GUI: Checking and Training)

khi ng mt FIS s dng anfis hoc b son tho ANFIS GUI, u tin ta cn c mt d liu hun luyn cha cc cp d liu u vo/u ra mong mun ca h thng ch. i khi cng cn tp d liu th tu chn c th kim tra c kh nng khi qut ho ca h thng suy lun m, ng thi tp d liu kim tra c th gip vic iu chnh trong sut qu trnh hun luyn. Nh cp t phn trc, vic iu chnh c tnh th nghim hun luyn FIS trn mt d liu hun luyn i lp d liu kim tra, v chn hm tham s hm lin thuc ni kt vi sai s kim tra nh nht nu nhng sai s ny ch ra vic iu chnh mu qu mc. Ta s phi kim tra s sai s hun luyn nh nht quyt nh iu ny. Nhng vn ny s c bn n mt v d phn sau. Thng th nhng phn d liu hun luyn v kim tra c thu thp da trn cc quan st ca h thng ch v 144

sau c lu li trong cc tp tin tch bit.

Ch : Bt c tp d liu no m ta ti vo b son tho ANFIS GUI, (hoc l ci c ng dng vo hm lnh anfis) phi l mt ma trn vi cc d liu u vo c sp xp nh cc vecto trong tt c tr ct cui cng. D liu u ra phi c t trong ct cui cng. 6.5.3. Mt s v d

a. V d 1:
D liu kim tra gip cng nhn gi tr mu (Checking Data Hetps Model Validation)

Trong phn ny chng ta s xem xt mt v d ti tp d liu hun luyn v kim tra, trong ch c d liu kim tra b thay i bi nhiu.
+ Ti d liu

thc hin cho c hai v d, sau vo ca s son tho ANFIS GUI, ta ti tp d liu hun luyn c tn: (fuzex1trnData and fuzex2trnData) v tp d liu kim tra c tn: (fuzexlchkData and fuzex2chkData) vo vng lm vic b son tho ANFIS GUI. ti cc tp d liu t th mc fuzzydemos ca Matlab vo vng lm vic ca MATLAB, t ca s dng lnh ta g: load fuzex 1 trnData.dat load fuzex2trnData.dat load fuzex1chkData.dat load fuzex2chkData.dat
Ch : Ta c th mun ti d liu t fuzzydemos hoc bt c th mc no trn a, s dng b son tho ANFIS G mt cch trc tip.

M b son tho ANFIS GUI bng cch g anrscdit. ti d liu hun luyn, nhn vo Training worksp v sau l Load Data... Ca s nh GUI m ra cho php ta g mt tn bin t vng lm vic. G vo fuzex1tmData nh trong hnh 6.12.

145

D liu hun luyn xut hin trong s khu th ca GUI l tp cc hnh trn (hnh 6.13).
Ch : Thanh ngang c nh du l tp chi s d liu. Ch s ny ch r hng nhp gi tr d liu u vo (d du vo l mt vect hay mt i lng v hng). Tip n la chn hp Checking trong ct Type ca Load Data ca GUI ti fuzex1chkData t ni lm vic. D liu ny xut hin trong s GUI nh cc phn thm vo d liu hun luyn (hnh 6.14).

146

+++ D liu kim tra ooo D liu hun luyn

Hnh 6.14

Hnh 6.15

D liu ny s c s dng hun luyn mt h thng suy lun m bng cch iu chnh cc tham s ca hm lin thuc sao cho tt nht vi d liu ny. Bc tip theo l c th ho mt h thng suy lun m ban u cho anfis nhm mc ch hun luyn.
+ Khi to FIS ban u

Ta th khi to cu trc FIS theo s thch ca mnh, hoc c th to ra m hnh FIS ban u mt cch t ng. khi to FIS s dng anr's theo cc bc sau: Chn Git partition, phng php phn chia mc nh. Bm vo nt Generate FIS. Mt thc n hin ra (hnh 6.15) cho php 147

chn s lng hm lin thuc (MFS), v kiu hm lin thuc u vo, u ra. Lu ch c hai la chn cho hm lin thuc u ra: hng s v tuyn tnh. Gii hn ca cc la chn hm lin thuc u ra l v anfis ch c th hot ng trn h thng kiu Sugeno. in y cc thng s nh di y ri nhn OK. Ta cng c th to FIS t dng lnh c s dng lnh genfis1 (dnh cho phn chia li) hoc genfis2 (Cho tp hp cc php tr). V d ngn ng mt dng lnh minh ho cch s dng ca genfis1 v anfis s c cung cp sau.
+ n nh cc hm lin thuc cho ANFIS

nh ngha cu trc FIS v cc tham s ca n theo quan im ca ring mnh, ta thc hin theo cc bc sau: M thc n Edit membership funtions t thc n View. Thm cc hm lin thuc mong mun (vic la chn cc hm lin thuc theo mun s lm v hiu ha anrs). Cc hm lin thuc u ra cn phi tuyn tnh hoc hng s. Chn thc n Edit rules trong thc n View. S dng Rule Edtor to ra cc lut (xem The Rule Editor). Chn thc n Edit FIS Properties t thc n View. t tn cho FIS v ghi vo vng lm vic hoc vo a. S dng thc n View quay tr li b son tho AN FIS GUI nhm hun luyn FIS. ti mt FIS hin c cho ANFIS ban u, trong mc Gcnerate FIS ca GUI, bm vo Load from worksp hoc Load from disk. Ta s ti FIS m trc c lu vo a. Ta cng c th ti FIS t vng lm vic, hoc bt nt Generate FIS ti FIS bng cch bm vo nt ny.
+ Xem cu trc ca FIS

Sau khi to mt m hnh FIS, ta c th xem cu trc ca m hnh bng cch bm vo nt Structure phn gia bn phi ca GUI. Mt GUI mi xut hin nh trong hnh 6.16. Trong cc nhnh nt mch l nt mu biu th nguyn tc AND, NOT hoc OR c s dng. Bm vo cc nt s hin th thng tin v cu trc. Ta c th quan st cc hm lin thuc cng nh cc lut bng cch m b son tho hm lin thuc, hoc b son tho nguyn tc t thc n View.
+ Hun luyn ANFIS

148

Hnh 6.16

Ta c th chn mt trong hai phng php ti u ha cc tham s ca anfis hun luyn FIS l hybris (hn hp truyn ngc v bnh phng nh nht) v backpropa (lan truyn ngc). Dung sai c s dng to mt tiu chun dng hun luyn. Vic hun luyn s ngng li sau khi sai s d liu hun luyn nm trong dung sai cho php. Thng ta t sai s cho php cui cng bng 0 khi cha bit r sai s bng bao nhiu. bt u hun luyn ta thec hin theo cc bc sau: Chn phng php ti u, v d: hybrid. t s k hun luyn l 40, trong Epochs ca GUI (gi tr mc nh l 3). La chn Train now. Hnh v sau xut hin trn mn hnh (hnh 6.17).

Ch : Cc sai s kim tra gim ti mt mc nht nh trong qu trnh hun luyn v sau li tng ln. S lng ny th hin im m li vic

149

iu chnh mu vt qu gii hn. Anr's chn cc tham s m hnh c lin quan n sai s kim tra ti thiu. Trong v d ny, tu chn kim tra ca anrs c hu ch.
+ Th d liu tng phn vi FIS hun luyn (Testing Your Data Against th Traincd FIS)

th FIS tng phn vi d liu kim tra, chn hp kim tra Checking data trong phn Tesst FIS ca GUI, v bm Test now. Ta kim tra c d liu kim tra tng phn vi FIS (hnh 6.18).
Ch : Khi ti thm d liu vi anfis: Nu ti d liu mi vo anfis sau khi xo d liu ti trc , ta phi chc chn rng d liu mi ti c cng s u vo nh d liu trc. Nu khng ta cn phi khi ng li mt anfisedit mi t dng lnh. Khi la chn d liu kim tra v xo d liu: Nu khng mun s dng phn la chn d liu kim tra ca anfis, ta khng cn ti bt c mt d liu kim tra no trc khi hun luyn FIS. Nu ta quyt nh hun luyn li FIS m khng cn d liu kim tra, ta c th loi b d liu kim tra bng mt trong hai cch:

- Cch 1: La chn nt Checking trong phn Load data ca GUI v sau bm vo nt Clear Data b d liu kim tra. - Cch 2: ng GUI v i ti dng lnh ri g li anfisedit. Trong trng hp ny c th phi ti li d liu kim tra. Sau khi xa d liu, ta s cn to FIS. 150

Khi mt FIS c to ra ta c th s dng kinh nghim hun luyn k u tin quyt nh s k hun luyn nu mun hun luyn k hai.

b. V d 2: D liu kim tra khng hp vi m hnh Trong v d ny, chng ta s kho st iu g xy ra khi d liu hun luyn v kim tra khc nhau hon ton. xem cch s dng b son tho ANFIS GUI nghin cu mt s iu v cc tp d liu v s khc nhau gia chng. Ta thc hin theo cc bc sau: Xo tt c d liu hun luyn v d liu kim tra. lm iu c th bm vo nt Clear Plot bn phi ca ca s son tho. Ti d liu hun luyn v d liu kim tra theo th t nh sn fuzex2trnData v fuzex2chkData vo vng lm vic ca MATLAB tng t nh lm v d trc. Trn mn hnh ta nhn c nhng d liu nh hnh 6.19. Hun luyn FIS cho h thng ny tng t nh v d trc, ch khc l chn k hun luyn l 60 trc khi hun luyn. Ta nhn c sai s hun luyn v sai s kim tra (hnh 6.20).

Hnh 6.19

151

Hnh 6.20

Ta thy rng sai s kim tra l kh ln. Dng nh l sai s kim tra nh nht ly ra trong k u tin. Chng ta hy nh li vic s dng tu chn d liu kim ra bng anfis mt cch t ng thit lp cc tham s c lin kt vi sai s kim tra nh nht. R rng l tp cc hm lin thuc khng phi l la chn tt nht to mu d liu kim tra. Vy, vn y l g? V d ny lm sng t vn c c cp trn, trong d liu kim tra a n anfis hun luyn khc hon ton vi d liu hun luyn. N th hin tm quan trng ca vic.hiu bit r cc c im d liu khi ta la chn d liu hun luyn v kim tra. Nu khng ng, ta c th phn tch s sai s kim tra xem d liu kim tra c hot ng hiu qu vi m hnh hun luyn hay khng. Trong v d ny, sai s kim tra ln cho thy cn phi c nhiu d liu hn la chn cho vic hun luyn hoc thay i cc la chn hm lin thuc (c s lng v kiu hm lin thuc). Hoc l hun luyn li h thng m khng cn d liu kim tra nu ta thy d liu hun luyn m t nhng nt c trng m ta ang c gng thc hin. Sau y ta hy th hun luyn m hnh FIS i lp vi d liu kim tra. lm vic ny, la chn Checking data trong mc Test FIS ca GUI, v bm vo Test Now. Hnh 6.21 di y th hin s khc nhau gia u ra d liu kim tra vi u ra FIS.

152

Hnh 6.21
6.6. SON THO ANFIS T DNG LNH

trn ta thy r s tin li v n gin khi s dng b son tho ANFIS GUI xy dng mt m hnh m - nron (FIS). Tuy nhin, nh thy trongv d 2, ta cn phi thn trng khi thc hin chc nng cng nhn gi tr d liu kim tra ca anfis v phi kim tra xem sai s d liu kim tra c m bo khng. Nu khng ta cn hun luyn li FIS. Sau y chng ta s tm hiu cch thc s dng dng lnh anfis thng qua v d d on chui thi gian hn n. Chui thi gian hn n c m t bi phng trnh Mackey- Glass (MG) nh sau: x (t) =

0,2x( ) 0,1x(t) 1 + x10 (t )

Chui thi gian ny l hn n, v khng c khong thi gian xc nh r rng. Chui ny s khng hi t hay phn k, v ng cong c nhy cao vi cc iu kin ban u. y l mt bi ton in hnh trong s cc nghin cu m hnh mng nron v logic m. thu c gi tr chui thi gian ti nhng gi tr nguyn, chng ta p dng phng php Runge-kuna bc 4 tm ra gii php s cho cng thc (Mackey- Glass) MG trn, kt qu c lu li trong file mgdata.dat. y, ta gi thit x(0) = 1,2, T = 17 v x(t) = 0 khi t < 0. v th chui thi gian MG (hnh 6.22) ta thc hin cc lnh sau:
load mgdata.dai t = mgdata (: , 1); x - mgdata (:, 2); plot(t, x);

153

Hnh 6.22. th chui MG

d on chui thi gian, ta mong mun dng cc gi tr ca chui thi gian n im thi im t, d on gi tr ca chui ti mt s thi im trong tng lai (t + P). Phng php chun cho loi d on ny l to ra mt bn t cc im ly mu d liu D, thi gian trch mu l . Ti thi im, (x(t - (D-1) ),... x(t- x(t)) d on cc gi tr x(t + P). Theo quy c d on chui thi gian MG, chng ta t D = 4 v = P = 6. Vi mi t, d liu hun luyn u vo cho anfls l mt vecto bn chiu theo cng thc sau: w(t) = [x(t- 18) x(t- 12) x(t-6) x(t)]. D liu hun luyn u ra tng ng vi ng cong d on: s(t) = x(t + 6). Vi mi t, theo gi tr t 118 n 1117, d liu hun luyn u vo/ u ra s l mt cu trc c thnh phn u tin l u vo w bn hng, v thnh phn th hai l u ra s. S c 1000 gi tr d liu vo/ ra. Chng ta s dng 500 gi tr d liu u tin hun luyn anfis (nhng gi tr ny tr thnh d liu hun luyn) trong khi nhng gi tr khc c s dng nh d liu kim tra nhn dng m hnh m. y l kt qu trong 2 cu trc d liu 500 im, tmData v chkData. Di y l cc lnh to d liu ny.
For t = 118: 1117, Data (t- 117, :) = [x(t-18) x(t-12) x(t-6) x(t) x(t + 6)]; End trnData : Data (1:500, :);

154

chkData = Data (501 : end, :);

bt u vic hun luyn, chng ta cn mt cu trc FIS ch r cc tham s ban u v cu trc ca FIS hc. y l cng vic ca genrsl:
fismat = genfisl (trnData).

V chng ta khng xc nh r s lng v kiu hm lin thuc s dng trong FIS nn cc gi tr mc nh khng c tht. Nhng gi tr mc nh ny cung cp hai hm lin thuc hnh chung mi u vo, tng cng l 8. Cu trc to FIS c 16 lut m vi 140 tham s. Theo th t, t kh nng pht tt, quan trng l phi c cc im d liu hun luyn ln gp vi ln s cc tham s c tnh. Trong trng hp ny, t l gia d liu v cc tham s vo khong 5 (500/104).

Hnh 6.23. Cc hm lin thuc trc khi hun luyn

Hm genfisl to ra cc hm lin thuc ban u c sp xp cn bng v bao ph tt c khong u vo. T c th v cc hm lin thuc u bng cc lnh sau:
subplot(2,2,1) plotmf(rsmat, 'input', 1) suhplot(2,2,2) plotmf(rsmat, 'input', 2) subplot(2,2,3) plotmf(rsmat, 'input', 3)

155

subplot(2,2,4) plotmf(rsmat, 'input', 4)

Cc hm lin thuc ban u nh hnh 6.23. bt u vic hun luyn, g:

[rsmat1, error1,ss, rsmat2, error2]=... anrs (trnData, fismat, [],[], chkData);

V tu chn d liu kim tra anrs c gi ra, FIS chn cui cng s thng l mt lin kt vi sai s kim tra nh nht. N c lu trong rsmat2. Cc lnh sau s v cc hm lin thuc mi:
subplot(2,2,1) plotmf(fismat2, 'input', 1) subplot(2,2,2) plotmf(rsmat2, 'input', 2) subplot(2,2,3) plotm(rsmat2, 'input', 3) subplot(2,2,4) plotmf(rsmat2, 'input', 4)

Hm lin thuc mi c chi ra trn hnh 6.24.

Hnh 6.24. Cc hm lin thuc sau khi hun luyn

156

Hnh 6.25a,b. Tn hiu ra v sai s sau khi hun luyn

v th sai s tn hiu, g lnh:

plot ([error1; error2]);

y error1 v error2 l bnh phng trung bnh sai s d liu hun luyn v kim tra theo th t nh sn. Thm vo cc th sai s ny, ta c th mun v th u ra FIS tri vi d liu hun luyn v kim tra. so snh chui thi gian MG gc v d on logic m tng mt mt, hy th
anfis_output = evamS([trnData; chkData1], fismat2); index = 125:1124; subplot(211), plot(t(index), [x(index) anfisoutput]); subplot(212), plot(t(index), x(index) - anfis_output); Ch : S khc nhau gia chui thi gian MG gc v cc gi tr anrs c tnh l rt nh. Hai th gn nh trng kht ln nhau (hnh 6.sa). Sai s gia chng c chi ra trn th hnh 6.25b vi t l mn hn nhiu. Trong v d ny, ta mi chi hun luyn cho 10 k. Nu thm s k hun luyn, chng ta s thu c kt qu tt hn. 6.7. THNG TIN THM V ANFIS V B SON THO ANFIS EDITOR GUI

Lnh anfis c t nht l 2 v nhiu nht l 6 i s u vo, dng tng 157

qut l:
[fismat1,trnError,ss,fismat2,chkError] = ... anfis(trnData,fismat,trnOpt,dispOpt,chkData,method);

y trnOpt (cc tu chn hun luyn), dispopt (cc tu chn hin th), chkData (d liu kim tra) v method (phng php hun luyn) l tu chn. Tt c cc i s u ra u l tu chn. Trong phn ny chng ta bn n cc i s v phm vi cc thnh phn ca hm dng lnh anfis, cng nh hm tng t ca b son tho ANFIS GUI. Khi b son tho ANFIS GUI c gi ra s dng anfsedit, ch c tp d liu hun luyn c u tin hn vic thc hin anrs. Thm vo , bc tnh s c c nh khi h thng nron m thch nghi c hun luyn s dng dng c ny.
6.7.1. D liu hun luyn (Training Data)

D liu hun luyn, trnData, l mt i s yu cu vi anfis. Cng nh b son tho ANFIS GUI. Mi dng ca trnData l mt cp vo/ra ca h thng ch c m hnh ha. Mi dng bt u bng mt vecto u vo v theo sau bi mt gi tr u ra. V th s dng ca trnData bng vi s cp d liu hun luyn v do ch c mt u ra nn s ct ca trnData bng vi s u vo cng 1.
6.7.2. Cu trc u vo FIS (Input FIS Structure)

Cu trc u vo FIS, fismat, c th c c t mt trong s cc b son tho logic m bt k: B son tho FIS, b son tho hm lin thuc v b son tho lut t b son tho ANFIS GUI, (cho php ti mt cu trc FIS t a hoc vng lm vic), hoc t mt hm dng lnh, genfis1 (ch cn a s lng v kiu hm lin thuc). Cu trc FIS cha c cu trc m hnh (nh s lut trong FIS, s hm lin thuc cho mi u vo,...) v cc tham s, (nh dng hm lin thuc). C hai phng php m anfis hun luyn cp nht cc tham s ca lin thuc: truyn ngc i vi tt c tham s (H thp dc - a steepest descent method) v phng php lai (hybrid) bao gm c vic truyn ngc i vi cc tham s c lin quan n cc hm lin thuc u vo, v c lng bnh phng nh nht vi cc tham s c lin quan vi cc hm lin thuc u ra. Kt qu l, sai s hun luyn gim, t nht l trong khu vc, qua qu trnh luyn. V vy, cng nhiu hm lin thuc ban u ging cc hm ti u th cng d hi t cc tham s hun luyn m hnh. S hiu bit ca con ngi v h thng ch c dng lm mu c th gip cho vic thit lp cc hm tham s ca hm lin thuc ban u trong cu trc FIS. 158

genfis1 to ra mt cu trc FIS da trn nhiu hm lin thuc c nh. iu ny gy phin phc v to ra rt nhiu nguyn tc khi s u vo tng i nhiu (4 n 5 u vo). gim kch c trong h thng suy lun m ta c th to ra mt cu trc FIS s dng thut ton hi (tham kho mc Subtractive Clustering) t b son tho ANFIS GUI, thut ton ny c la chn trc khi to FIS. Phng php hi quy phn chia d liu thnh cc nhm gi l clusters v to ra mt FIS vi cc nguyn tc ti thiu theo yu cu phn bit cc tnh cht m c lin quan n mi cluster. 6.7.3. Cc ty chn hun luyn (Training Options)

ANFIS Editor GUI cho php ta la chn dung sai sai s v s k hun luyn theo mun. Tu chn hun luyn trnOpt cho dng lnh anfis l mt vecto nh r tiu chun dng v c bc tnh ca qu trnh thch nghi nh sau:
trnOpt(1): number of training epochs, default =10. trnOpt(2): error tolerance, default = 0. trnOpt(3): initial step-size, default = 0.01. trnOpt(4): step-size decrease nhe, default = 0.9. trnOpt(5): step-size increase nhe, default = 1.1.

Nu mt thnh phn bt k ca trnopt l mt NaN hoc thiu, gi tr mc nh s c ly. Qu trnh hun s luyn dng khi chy k hun luyn thit k hoc khi sai s nm trong gii hn cho trc sau mt s k hun luyn. Thng thng ta mun m t s lc c ca bc tnh l mt ng cong tng vo lc u, t ti a, v sau gim trong thi gian hun luyn cn li. M t s lc c bc l tng t c bng cch iu chnh c bc ban u v t l tng, gim (tmopt (3) - tmopt (5)). Gi tr mc nh c t cho mt vng rng cc nhim v nghin cu. ng dng c bit, ta c th mun sa i nhng tu chn c bc nh gi tch cc vic hun luyn. Tuy nhin, nh c ni n phn trc, c nhng tu chn c bc khng c s dng c bit hun luyn h thng noron suy lun m thch ng c to s dng b son tho ANFIS GUI.
6.7.4 Tu chn hin th Display Options

Tu chn hin th ch ng dng cho hm lnh anrs. i vi dng lnh anrs, i s tu chn hin th, disopt, l mt vect bng 1 hoc bng 0 ch r thng tin hin th (in trong ca s dng lnh MATLAB), trc, trong v sau 159

qu trnh hun luyn. S '1' c s dng biu th in phn la chn trong khi 0 biu th khng in phn chn.
disOpt(1): hin th thng tin, mc nh = 1 dissOpt(2): hin th sai s (mi k), mc nh = 1 disOpt(3): hin th c bc (mi k), mc nh = 1 disOpt(4): hin th cc kt qu cui cng, mc nh = 1

Mu mc nh hin th tt c cc thng tin c sn. Nu mt ph ca disOpt l NaN hoc b mt i th gi tr mc nh s c ly.

6.7.5. Phng php hun luyn (Method)

C b son tho ANFIS GUI v dng lnh anfis u p dng dng thc truyn ngc ca phng php h thp dc c tnh cc tham s hm lin thuc hoc kt hp gia dng truyn ngc v phng php bnh phng nh nht tnh cc hm tham s hm lin thuc. Cc i s chn l hybrid hoc backpropagation. Cc la chn phng php ny c thit k trong hm dng lnh, anfis, = 1 v 0, theo th t mc nh.
6.7.6. Cu trc u ra FIS cho d liu hun 1uyn

Fismat1 l cu trc u ra FIS tng ng vi sai s hun luyn nh nht. y l cu trc FIS m ta s s dng trnh by h thng suy lun m khi khng c d liu kim tra cng nhn gi tr ca mu. D liu ny cng trnh by cu trc FIS c lu bi b son tho ANFIS GUI khi tu chn d liu kim tra khng c s dng. Khi d liu kim tra c s dng, u ra c lu l u ra c lin h vi sai s kim tra nh nht.
6.7.7. Sai s hun luyn

Sai s hun luyn l s khc nhau gia gi tr d liu u ra, v u ra ca h thng suy lun m tng ng vi gi tr d liu u vo (c lin h vi gi tr d liu hun luyn u ra). Sai s hun luyn trnError ghi li sai s bnh phng nh nht ban u (RMSE) ca d liu mi k hun luyn. Fismat1 l ghi nhn nhanh ca cu trc FIS khi php o sai s hun luyn nh nht. B son tho ANFIS GUI s v s sai s hun luyn v cc ng cong mi k khi hun luyn h thng.
6.7.8. Bc tnh (Step-size)

Trong b son tho ANFIS GUI ta khng th ty chn bc tnh. S dng dng lnh anfis, chui cc c bc ss ghi li c nc trong sut qu trnh hun luyn. V th ss m t s b c bc nh mt phn tham kho iu chnh c bc theo t l tng, gim tng ng. C bc ss cho hm 160

lnh anfis c cp nht theo hng dn sau:

+ Nu sai s gim 4 ln lin tip, ta tng bc tnh bng cch nhn n vi mt hng s (ssinc) ln hn 1. + Nu sai s tng v gim 1 ln lin tip, gim bc tnh bng cch nhn n vi mt hng s (ssdec) nh hn 1.

Gi tr mc nh cho bc ban u l 0.01, cc gi tr mc nh cho ssinc v ssdec l 1.1 v 0.9 theo th t mc nh. Tt c cc gi tr mc nh c th c thay i theo tu chn hun luyn ca lnh anfis.
6.7.9. D liu kim tra (Checking Data)

D liu kim tra, chkData, c s dng kim nng lc tng qut ca h thng suy lun m mi k hun luyn. D liu kim tra c cng dng vi d liu hun luyn, nhng n c cc phn t ni chung khc bit vi d liu hun luyn. D liu kim tra rt quan trng i vi vic nghin cu h thng c s u vo ln, hoc vi d liu b nhiu. Ni chung chng ta mun h thng suy lun m train theo mt d liu vo/ra c tht tt. V cu trc m hnh s dng s dng cho anfis l c nh nn c c th xy ra trng hp kh nng ca m hnh m hnh vt qu d liu hun luyn, c bit l s k hun luyn ln. Nu vic xy ra, h thng suy lun m s khng th p ng tt vi cc phn d liu c lp khc, c bit khi chng b tc ng ca nhiu. Mt d liu kim tra hoc c cng nhn gi tr c th hu ch trong nhng tnh hung ny. D liu ny c s dng cng nhn gi tr ca m hnh suy lun m. N c thc hin bng cch p dng d liu kim tra cho m hnh, v xem vic m hnh phn hi ti d liu tt nh th no. Khi tu chn d liu kim tra c s dng vi anfis, hoc l theo dng lnh hoc l s dng b son tho ANFIS GUI, d liu kim tra c p dng cho mu mi k hun luyn. Khi dng lnh anfis c gi ra, cc tham s m hnh tng ng vi sai s kim tra nh nht tr li theo i s u ra fismat2. Cc hm tham s hm lin thuc FIS c tnh bng cch s dng b son tho ANFIS GUI khi hai d liu hun luyn v kim tra c np vo kt hp vi k hun luyn c sai s kim tra nh nht. K sai s d liu kim tra nh nht dng thit lp cc hm tham s ca hm lin thuc tha nhn: D liu kim tra ging d liu hun luyn sai s d liu kim tra gim khi qu trnh hun luyn bt u. D liu kim tra tng ti mt vi im ca qu trnh hun luyn, sau xy ra vic iu chnh qu mc. 161

Da vo ng cong sai s ca d liu kim tra kt lun FIS c th c s dng hoc khng c s dng.
6.7.10. Cu trc u ra FIS cho d liu kim tra (Output FIS Structure for Checking Data)

u ra ca dng lnh anfis, fismat2 l cu trc u ra FIS c sai s kim tra nh nht. y l cu trc FIS c s dng tnh ton thm nu d liu kim tra c s dng cho qu trnh cng nhn gi tr.
6.7.11. Sai s kim tra (Checking Error)

Sai s kim tra l s khc nhau gia gi tr d liu kim tra u ra v u ra ca h thng suy lun m tng ng vi gi tr d liu kim tra u vo (c kt hp vi gi tr d liu kim tra u ra). Sai s kim tra chkError ghi li RMSE cho d liu kim tra mi k. Fismat2 l mt minh ha ca cu trc FIS khi sai s kim tra mc nh nht. B son tho ANFIS GUI s v s sai s kim tra cng vi ng cong cc k khi hun luyn h thng.

162

TI LIU THAM KHO

[1] Phan Xun Minh & Nguyn Don Phc (1999), "L thuyt iu khin m", Nh xut bn khoa hc v k thut. [2] Nguyn Thng Ng (1998), "L thuyt iu khin t ng hin i", Nh xut bn khoa hc v k thut. [3] Nguyn Nh Hin (2003) "Nghin c nng cao cht lng h chuyn ng nhiu trc ", Lun n tin s k thut. [4] Li Khc Li (2003), "Mt s phng php tng hp ti u b iu khin trn c s logic m v thch nghi", Lun n tin s k thut. [5] Phan Xun Minh, Nguyn Tin Hiu "iu khin thch nghi tay my trn c s h m" Tuyn tp cc bo co khoa hc hi ngh t ng ha ton quc ln th 6 (2005), trang 370-375. [6] Phm Hu c Dc "Nghin cu ng dng tng nron m iu khin thch nghi rbt hai khu" Tuyn tp cc bo co khoa hc hi ngh t ng ha ton quc ln th 6 (2005), trang 107- 112. [7] H. Yamamoto & T. Furuhashi (1999), "New fuzzy Inference methodfor system Using symbolic stability analysis offuzzy control", The fourth Asian Fuzzy System Synposium, May 31 - June, Tsukuba, Japan. pp.450-455. [8] Kenji IKEDA and Seiichi SHIN (2000), "Autonomous Decentralizrd Adaptive Control System Using Parameter Projection", The fourth Asian Fuzzy System Synposium, May 31 - June, Tsukuba, Japan. pp.293-298. [9] Huganghan & Shuta Murakami (2000), "Adaptive Fuzzy Control of Nonlinear system Witht Various Shapes of Membership Funetions", The fouth Asian Fuzzy Systems Symosium, may 31 -June 3.2000 Tshkuba, Japan. pp.426-467. [10] Kosko, B (1991), "Neuralnetworks andfuzzy control", Prentice Hall,. [11] L.A. Zadeh (1965), "fuzzy st", Inf. contr. vol. 8, pp. 338-353. [12] Yih-Guang Leu, Wei-Yen Wang and Tsu-Tian lee (1999), "Robust Adaptive Fuzzy-Neural controllers for Uncertain Nonlinear Systems", IEEE Transaction on roboties and automation. Vol. 15. No. 5, pp. 805 - 817. [13] Matlab 7.4 [14] research reports Esprit, I.F.Croall, J.P.Mason) Industrial Applications of Neural Networks. 163

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