96252404 NGHIEN CỨU HỆ ĐIỀU KHIỂN THICH NGHI MỜ VA ỨNG DỤNG CHO HỆ TRUYỀN ĐỘNG CO KHE HỞ VanLuong Blogspot Com

I HC THI NGUYN
TRNG HKT CNG NGHIP

CNG HO X HI CH NGHA VIT NAM
c lp - T do - Hnh phc
-----------***-----------

THUYT MINH
LUN VN THC S K THUT

NGHIN CU H IU KHIN THCH NGHI M V
NG DNG CHO H TRUYN NG C KHE H
TI

Hc vin: L Th Minh Nguyt
Lp: CHK9
Chuyn ngnh: T ng ho
CB HD Khoa hc: PGS.TS Li Khc Li
Ngy giao ti: 25/06/2008
Ngy hon thnh: 25/02/2009

KHOA T SAU I HC CB HNG DN

PGS.TS Li Khc Li
HC VIN

L Th Minh Nguyt

I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP
----------------***----------------

TM TT
LUN VN THC S K THUT
NGNH: T NG HO


Hc vin: L Th Minh Nguyt
Cn B HD Khoa hc: Nh gio u t - PGS.TS Li Khc Li

THI NGUYN 2009

I HC THI NGUYN
TRNG I HC K THUT CNG NGHIP
----------------***----------------

LUN VN THC S K THUT
NGNH: T NG HO


L TH MINH NGUYT

THI NGUYN 2009
Lun vn thc s

S ha bi Trung tm Hc liu i hc Thi Nguyn http://www.lrc-tnu.edu.vn

-1-

LI CAM OAN
Tn ti l: L Th Minh Nguyt
Sinh ngy 24 thng 07 nm 1979
Hc vin lp cao hc kho 9 - T ng ho - Trng i hc k thut Cng
nghip Thi Nguyn.
Hin ang cng tc ti khoa K thut cng nghip - Trng cao ng Kinh t
- K thut Thi Nguyn.
Xin cam oan: ti Nghin cu h iu khin thch nghi m v ng
dng cho h truyn ng c khe h do PGS.TS Li Khc Li hng dn l
cng trnh nghin cu ca ring ti. Tt c cc ti liu tham kho u c ngun gc,
xut x r rng.
Nu sai ti hon ton chu trch nhim trc Hi ng khoa hc v trc
php lut.

Thi Nguyn, ngy 28 thng 2 nm 2009
Tc gi

L Th Minh Nguyt

Lun vn thc s


-2-

LI CM N
Sau su thng nghin cu, lm vic khn trng, c s ng vin, gip
v hng dn tn tnh ca thy gio hng dn PGS.TS Li Khc Li, lun vn vi
ti Nghin cu h iu khin thch nghi m v ng dng cho h iu khin
c khe h hon thnh.
Tc gi xin by t lng bit n su sc:
Thy gio hng dn PGS.TS Li Khc Li ch dn, gip tc gi hon
thnh lun vn ny.
Cc thy gio, c gio thuc trng i hc K thut Cng nghip Th i
Nguyn gip tc gi trong sut qu trnh hc tp cng nh qu trnh nghin
cu thc hin lun vn.
Khoa o to Sau i hc, B mn Gio dc hc - khoa k thut cng
nghip, Ban gim hiu trng cao ng kinh t k thut Thi Nguyn to mi
iu kin cho vic hc tp, nghin cu v tin hnh lun vn ca tc gi.
c bit tc gi xin dnh li cm t, bit n su sc nht ti b m cng gia
nh ht lng ng vin, gip tc gi trong sut qu trnh hc tp v hon
thnh bn lun vn.
Ton th cc ng nghip, bn b, gia nh v ngi thn quan tm, ng
vin.
Tc gi lun vn

L Th Minh Nguyt

Lun vn thc s


-3-
MC LC
Ni dung Trang
Trang ph ba
Li cam oan 1
Li cm n 2
Mc lc 5
Danh mc cc hnh v, th 9
CHNG M U 3
1. L do chn ti 3
2. Mc ch ca ti 4
3. i tng v phm vi nghin cu 4
4. ngha khoa hc v thc tin ca ti 4
5. Cu trc ca lun vn 4
Chng 1: TNG QUAN CC H IU KHIN 12
1.1.CC H IU KHIN KINH IN 12
1.1.1 Tng hp b iu khin tuyn tnh 12
1.1.2 Tng hp b iu khin phi tuyn 12
1.2 LOGIC M V IU KHIN M 14
1.2.1 Khi qut v l thuyt iu khin m 14
1.2.2 nh ngha tp m 14
1.2.3 Bin m, hm bin m, bin ngn ng 16
1.2.4 Suy lun m v lut hp thnh 17
1.2.5 B iu khin m 18
1.2.6. H iu khin m lai (F-PID) 20
1.3 TNG HP B IU KHIN THCH NGHI 23
1.3.1 Gii thiu tng quan 23
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1.3.2. Tng hp iu khin thch nghi trn c s l thuyt ti u cc
b (Phng php Gradient)
26
1.3.3 Tng hp h thng iu khin thch nghi trn c s n nh
tuyt i
31
1.3.4. Tng hp h thng iu khin thch nghi dng l thuyt
Lyapunov
33
1.4 KT LUN CHNG 1 36
CHNG 2: KHO ST CHT LNG CA H TRUYN
NG C KHE H
38
2.1 KHI QUT V H TRUYN NG 38
2.2 M T H PHI TUYN 40
2.3 M HNH H PHI TUYN 41
2.3.1. M hnh tnh 41
2.3.2 M hnh ng 43
2.4 H TRUYN NG C KHE H 44
2.4.1 Gii thiu 44
2.4.2 Cc m hnh ca h truyn ng c khe h 47
2.4.2.1 M hnh vt l ca khe h 47
2.4.2.2 M hnh Deadzone (vng cht) 48
2.4.2.3 M hnh vi hm m t 48
2.4.3 S cu trc khe h 49
2.4.4 Kho st cht lng ca h thng truyn ng c khe h 51
2.5 KT LUN CHNG 2 53
CHNG III: THIT K B IU KHIN M & M THCH
NGHI CHO H TRUYN NG C KHE H
54
3.1 CC PHNG PHP T NG HP B IU KHIN M
THCH NGHI
54
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3.1.1 KHI NIM 54
3.1.1.1 nh ngha 54
3.1.1.2 Phn loi 54
3.1.1.3 Cc phng php iu khin thch nghi m 54
3.1.2 TNG HP B IU KHIN M THCH NGHI N NH 57
3.1.2.1 C s l thuyt 57
3.1.2.2 Thut ton tng hp b iu khin m thch nghi 62
a. Chn cu trc ca b iu khin m 62
b. Cc bc thc hin thut ton 63
3.1.3 TNG HP B IU KHIN M THCH NGHI TRN C
S L THUYT THCH NGHI KINH IN
67
3.1.3.1 t vn 67
3.1.3.2 M hnh ton hc ca b iu khin m 68
a. Chn cc hm lin thuc 68
b. Chn lut iu khin 69
c. Phn tch lut c s hnh thnh suy lun 70
d. Cc thao tc m trong suy lun 71
e. Xy dng biu thc ton hc ca b iu khin m 73
3.1.4 XY DNG C CU THCH NGHI THEO M HNH MU
CHO B IU KHIN M
74
3.1.4.1 H iu khin thch nghi theo m hnh mu (MRAS) dng
l thuyt thch nghi kinh in
74
3.1.4.2 iu chnh thch nghi h s khuch i u ra b iu
khin m
76
3.1.4.3 S iu khin thch nghi m theo m hnh mu
(MRAFC)
76
Lun vn thc s


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3.1.4.4 S iu khin thch nghi m kiu truyn thng
(FMRAFC)
78
3.2 NG DNG CHO H TRUYN NG C KHE H 80
3.2.1. THIT K B IU KHIN M 80
3.2.1.1 S khi m 80
3.2.1.2 nh ngha tp m 80
3.2.1.3 Xy dng cc lut iu khin NuTh 82
3.2.1.4 Chn lut hp thnh 84
3.2.1.5 Gii m 84
3.2.1.6 Chng trnh v kt qu m phng h truyn ng c khe
h
85
3.2.2 B IU KHIN M THCH NGHI 87
90
TI LIU THAM KHO 91

Lun vn thc s


-7-
DANH MC CC BNG, HNH V, TH
Hnh 1.1 Mt s dng hm lin thuc.
Hnh 2.2 th m t cc php ton trn tp m
Hnh 1.3 th biu din quan h lut hp thnh
Hnh 1.4 th biu din quan h lut hp thnh
Hnh 1.5 S khi chc nng ca b iu khin m
Hnh 1.6 V d v cch xc nh min G
Hnh 1.7 Gii m theo phng php trng tm
Hnh 1.8 Gii m theo phng php im trung bnh tm
Hnh 1.9 B iu khin m ng
Hnh 1.10 a) Nguyn l iu khin m lai
b) Vng tc ng ca cc b iu khin
Hnh 1.11 Vng tc ng ca cc b iu khin.
Hnh 1.12 Cu trc c bn ca h thng thch nghi
Hnh 1.13 iu chnh h s khuch i
Hnh 1.14 iu khin theo m hnh mu
Hnh 1.15 iu khin t chnh
Hnh 1.16 Cu trc m hnh mu song song
Hnh 1.17 S khi h thng iu khin thch nghi theo m hnh
Hnh 1.18 Phng php thch nghi thng s
Hnh 1.19 Phng php tng hp tn hiu b sung Up2
Hnh 1.20 Minh ho phng php Lyipunov vi vic kho st tnh n nh.
Hnh 1.21 S khi h MRAS da trn l thuyt Lyapunov cho i tng bc
nht
Hnh 2.1 S khi tng qut h truyn ng
Hnh 2.2 S khi h MIMO
Hnh 2.3 Quan h vo ra ca khu phi tuyn hai v tr
Hnh 2.4 Quan h vo ra ca khu phi tuyn ba v tr
Hnh 2.5 Quan h vo ra ca khu khuch i bo ho
Hnh 2.6 Quan h vo ra ca khu hai v tr c tr
Lun vn thc s


-8-
Hnh 2.7 Quan h vo ra khu khuch i c min cht
Hnh 2.8 Quan h vo ra khu khuch i bo ho c tr
Hnh 2.9 Mt s h truyn ng c khe h
Hnh 2.10 Khe h u cnh tuabin
Hnh 2.11 M hnh vt l ca khe h
Hnh 2.12 c tnh Deadzone
Hnh 2.13 S m t c tnh khe h
Hnh 2.14 S cu trc khe h
Hnh 2.15 S khi h truyn ng c khe h
Hnh 2.17 c tnh ng ca h thng truyn ng c khe h iu khin theo lut t
l
Hnh 2.18a,b c tnh ng ca h thng truyn ng c khe h iu khin theo
lut PID
Hnh 3.1 Cu trc phng php iu khin thch nghi trc tip
Hnh 3.2 Cu trc phng php iu khin thch nghi gin tip
Hnh 3.3 iu khin thch nghi c m hnh theo di
Hnh 3.4 S cu trc b iu khin m thch nghi
Hnh 3.5 Hm lin thuc vi 7 tp m
Hnh 3.6 Lu thut ton tng hp hm m c s (e)
Hnh 3.7 Cu trc c bn ca h iu khin m 2 u vo
Hnh 3.8 nh ngha hm thuc cho cc bin vo - ra
Hnh 3.9 Lut hp thnh tuyn tnh
Hnh 3.10 Quan h vo ra ca lut hp thnh tuyn tnh
Hnh 3.11 S hnh thnh suy lun t lut hp thnh
Bng 3.2 Kt qu ca php ly Max-Min trong suy lun
Hnh 3.12 Cc vng trong suy lun
Hnh 3.13 B iu khin m vi h s khuch i u ra K
Hnh 3.14 MRAFC iu chnh h s khuch i u ra
Hnh 3.15 Cu trc h FMRAFC
Hnh 3.16 S khi b iu khin m.
Lun vn thc s


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Hnh 3.17 Cc lut hp thnh
Hnh 3.18 Quan h vo ra ca b iu khin m
Hnh 3.19 S m phng h tru yn ng c khe h vi b iu khin PID v b
iu khin m theo lut PI
Hnh 3.20 S khi ca khi lut m
Hnh 3.21 Kt qu m phng ca h truyn ng c khe h vi b iu khin PID
Hnh 3.22 Kt qu m phng ca h truyn ng c khe h vi b i u khin m
theo lut PI
Hnh 3.23 S m phng h truyn ng khe h vi b iu khin m thch nghi
Hnh 3.24 S khi ca b iu khin m thch nghi
Hnh 3.25 S thay i ca h s khuch i u ra k theo lut Lyapunov
Hnh 3.26 Kt qu m phng ca h truyn ng c khe h vi b iu khin PID
Hnh 3.27 Kt qu m phng ca h truyn ng c khe h vi b iu khin m
thch nghi
Hnh 3.28 Kt qu m phng ca h truyn ng c khe h vi b iu khin PID,
b iu khin m & m thch nghi

Lun vn thc s


-10-
M U
1. Tnh cp thit ca ti
Ngy nay cng vi s pht trin ca cng ngh vt liu th cc l thuyt mi
v iu khin h thng cng xm nhp nhanh chng vo thc t v mang li tnh
hiu qu cao khi dng cc l thuyt iu khin mi ny.
Mt trong nhng l thuyt m cc nh khoa hc trn th gii ang quan tm
nghin cu v ng dng vo thc t l l thuyt iu khin m v mng nron.
y l vn khoa hc c t vi thp nin, nhng vic ng dng n vo sn
xut, cng nh s kt hp chng to ra mt lut mi c nhng u im ca
cc l thuyt thnh phn vn ang l lnh vc khoa hc cn quan tm v nghin cu.
Bn cnh , cc thit b truyn ng c khe h c s dng rt rng ri
trong thc t nh cc truyn ng bnh rng; truyn ng ai vvChng thuc
nhm khu khuch i c tr. Do c d tr gia cc chuyn ng nn tnh phi
tuyn rt mnh. Trc y, khi thit k cc h iu khin ny, ta thng gi thit
khng c d, tr gia cc chuyn ng. Do c khe h nn d pht sinh dao ng
lm nh hng xu n cht lng ca h thng. gim nh hng ca khe h
n cht lng h thng truyn ng, ngi ta dng nhiu bin php khc nhau
nh: Tm cch gim nh khe h (c kh); dng h iu khin thch nghi, iu khin
m (in). Vic nghin cu nng cao cht lng cho cc h iu khin truyn
ng l yu cu quan trng thit lp cc h iu khin chnh xc nhm nng cao
nng sut lao ng v cht lng sn phm. ti gp phn nng cao cht lng
cho cc h iu khin truyn ng ang c ng dng trong nhiu lnh vc: iu
khin tay my, cc trc truyn ng ca my CNC.
Xut pht t tnh hnh thc t trn v nhm gp phn thit thc vo cng
cuc CNH-HH t nc ni chung v pht trin ngnh t ng ho ni ring,
trong khun kh ca kho hc Cao hc, chuyn ngnh T ng ha ti trng i
hc K thut Cng nghip Thi Nguyn, c s to iu kin gip ca nh
trng, Khoa o to Sau i hc v Ph Gio S - Tin s Li Khc Li, tc gi
la chn ti tt nghip ca mnh l: Nghin cu h iu khin thch nghi
m v ng dng cho h iu khin c khe h.
Lun vn thc s


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2. Mc ch ca ti
Vic iu khin h chuyn ng bm theo qu o mong mun l vn tn
ti thc t cn nghin cu gii quyt. Hin nay phng tin l thuyt v thc
nghim cho php thc hin c cc bi ton phc tp nhm t c cc ch tiu
cht lng yu cu nh qu iu chnh, thi gian qu cng nh kh nng bm
ca h.
Mc tiu ca ti l nghin cu b iu khin m, iu khin m thch
nghi v ng dng chng cho h iu khin truyn ng c khe h nhm nng cao
cht lng ca h thng ny.
3. i tng v phm vi nghin cu
- H thng iu khin truyn ng c khe h.
- Nghin cu l thuyt a ra cc thut ton iu khin.
- Thit k h iu khin thch nghi trn c s logic m thch nghi cho iu
khin truyn ng c khe h.
- M hnh ho v m phng kim nghim kt qu nghin cu.
4. ngha khoa hc v thc tin ca ti
ti c ngha quan trng c v l thuyt v thc t:
- V mt l thuyt: Nghin cu, ng dng l thuyt iu khin hin i
iu khin h truyn ng c khe h, l mt trong nhng h c tnh phi tuyn ln.
Kt qu khng ch p dng cho h truyn ng c khe h m cn c th p dng
cho nhng h phi tuyn khc.
- V thc t: H truyn ng c khe h gp nhiu trong thc t, vic p dng
l thuyt iu khin hin i cho h ny s gp phn nng cao cht lng iu
khin h thng, nng cao nng sut lao ng, nng cao cht lng v tng kh nng
cnh tranh ca sn phm trn th trng.
5. Cu trc ca lun vn
Lun n gm 3 chng, 91 trang, 28 ti liu tham kho, 37 trang ph lc, 68
hnh v v th.

Lun vn thc s


-12-
CHNG I
TNG QUAN CC H IU KHIN T NG

1.1 CC H IU KHIN KINH IN
Trong cc h thng iu khin phn cp hin i cng nh cc h thng iu
khin a cp, h iu chnh t ng l khu cui cng tc ng ln i tng iu
khin. Cht lng ca cc qu trnh ny nh hng trc tip n cht lng ca cc
qu trnh cng ngh bao gm: c ht lng sn phm, nng sut lao ng v cc ch
tiu khc ca dy chuyn cng ngh
Cht lng ca h thng iu khin t ng c nh gi bi tnh n nh
v cc ch tiu khc ca qu trnh xc lp v qu . n nh mi ch l ch tiu ni
ln rng h thng c th lm vic c hay khng, cn cht lng ca qu trnh qu
mi ni ti vic h thng c c s dng hay khng. V vy vic nng cao cht
lng h thng iu khin t ng lun l ti c nhiu tc gi trong v ngoi
nc quan tm.
L thuyt iu khin kinh in ra i rt sm v c nhiu ng gp trong
cc lnh vc ca iu khin hc k thut nh: trong lnh vc in, in t, quc
phng, hng hiV ic tng hp cc h iu khin kinh in c th chia thnh 2
loi: Tng hp h iu khin m tuyn tnh v h iu khin phi tuyn.
1.1.1 Tng hp b iu khin tuyn tnh
Cc b iu chnh PID tuyn tnh (bao gm P, PI, PD v PID) c
nghin cu v pht trin ti mc hon thin. xc nh c thng s ti u (K
p
,
K
i
, K
d
) ca PID ta c th dng phng php mdul ti u, phng php mdul i
xng v cc phn mm chuyn dng (v d MATLAB) t ng xc nh ti u
cc thng s PID. c im ca phng php ny l cn phi bit chnh xc m
hnh ca i tng.
1.1.2 Tng hp b iu khin phi tuyn
Thc t cc h thng v cc i tng vt l t nhiu u c tnh phi tuyn,
chng ch tuyn tnh trong 1 vng lm vic no . V vy vic nghin cu tng hp
Lun vn thc s


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h phi tuyn c ngha ph bin v thc tin. Cc phng php phn tch v tng
hp h phi tuyn khng tin b nhanh nh h tuyn tnh v hin nay cn ang trong
giai on pht trin. h phi tuyn c nhng c im ring khc hn h tuyn tnh,
v d tnh to tn, tnh phi tuyn, tnh xp chng. V vy phn tch v tng hp
h phi tuyn ta phi dng cc phng php gn ng, cc phng php gn ng
thng dng l:
- Phng php tuyn tnh ho gn ng: c p dng cho cc h gn
tuyn tnh, lc sai lch so vi tuyn tnh khng qu ln. Khi h thng lm vic
ln cn mt im no ta c th coi vng lm vic ca h l tuyn tnh.
- Phng php tuyn tnh ho iu ho: l phng php kho st h thng
trong min tn s gn ging vi tiu chun Naiquyt, phng php ny cn c gi
l phng php hm m t . Vic dng hm m t l mt c gng m rng gn
ng hm truyn ca h tuyn tnh sang h phi tuyn.
Hm m t (hay h s khuch i phc) ca khu phi tuyn l t s gia
thnh c bn ca p ng u ra vi kch thch hnh sin u vo. Nu mt h c
cha nhiu khu phi tuyn ta phi gp tt c chng li c hm m t t hp.
Phng php tuyn tnh iu ho cho php a ra kt qu hp l v c th
dng cho cc h thng bc bt k, xong v l phng php gn ng nn ta phi
kim tra li chnh xc bng cc k thut khc hoc bng m phng trn my tnh.
- Phng php tuyn tnh ho tng on: T c tuyn phi tuyn ca h ta
chia thnh nhi u on nh, mi on nh coi l on thng v c m t bi
phng trnh tuyn tnh. Phng php ny c u im l to ra li gii tng i
chnh xc cho h phi tuyn bt k. Phng trnh vi phn dn ra trn mi phn on
l tuyn tnh v c th gii c d dng bng cc k thut tuyn tnh thng dng.
- Phng php mt phng pha: Tin dng cho cc h phi tuyn bc 2
Trong iu khin kinh in, s tc ng ca my iu chnh c phn thnh
2 vng: vng tc ng ln v vng tc ng nh. Vng tc ng ln tn ti khi h
thng xa trng thi cn bng, khi c tc ng ln h thng s nhanh chng dch
chuyn v trng thi cn bng, vi tc dch chuyn ln nh vy h thng d dng
vt qua trng thi cn bng v gy qu iu chnh ln, iu ny khng mong
Lun vn thc s


-14-
mun. V vy khi h thng gn n trng thi cn bng, cn phi chuyn sang vng
tc ng nh gim qu iu chnh. Xut pht t tng cc b iu chnh
c cu trc thay i ra i pht trin p ng phn no yu cu nng cao cht
lng h iu khin phi tuyn.
Tm li trong mt thi gian di k t khi ra i, l thuyt iu khin kinh
in c nhiu ng gp gii quyt hng lot bi ton iu khin t ra trong
thc t. Tuy nhin cht lng ca h thng cng ch t c mc khim tn,
nht l i vi h phi tuyn. Vi s ra i ca cc l thuyt iu khin hin i nh
iu khin m, iu khin thch nghi, iu khin nron to iu kin thun li
cc nh k thut nghin cu ng dng nhm ngy cng nng cao cht lng ca
h thng iu khin t ng, nht l i vi cc h thng ln, h c tnh phi tuyn
mnh v kh m hnh ho.

1.2 LOGIC M V IU KHIN M
1.2.1 Khi qut v l thuyt iu khin m
T nhng nm u ca thp k 90 cho n nay, h iu khin m c
cc nh khoa hc trong nhiu lnh vc khoa hc quan tm, nghin cu v ng dng
vo sn xut.
Tp m v logic m da trn cc suy lun ca con ngi vi cc thng tin
khng chnh xc hoc khng y v h thng hiu bit v iu khin h thng
mt cch chnh xc.
iu khin m chnh l bt chc cch x l thng tin v iu khin ca con
ngi i vi cc i tng. Do iu khin m gii quyt thnh cng cc vn
iu khin phc tp trc y cha gii quyt c.
1.2.2 nh ngha tp m
Tp m l mt tp hp m mi phn t x ca n c gn mt gi tr thc
(x)[0,1] ch th ph thuc ca x vo tp cho. Khi ph thuc bng 0
th phn t s hon ton khng ph thuc vo tp cho, ngc li vi ph
thuc bng 1, phn t l hon ton thuc tp cho.
Cho tp E, gi A
l tp con m ca E, k hiu A

Lun vn thc s


-15-
( ) { }
A
A: x / (x); x E =
(1.2)
Trong :
A
(x) c gi l hm lin thuc ca tp m A
vi
A
(x) nhn cc gi tr
trong khong [0 ;1]. V mt ton hc ngi ta ni rng hm lin thuc
A
(x) nh
x mi mt phn t x trong tp E thnh mt gi tr lin thuc lin tc trong khong
0 v 1.
V d mt s dng hm lin thuc nh hnh (1.1).
- Hm Singleton (cn gi l hm Kronecker).
- Hm hnh tam gic.
- Hm hnh thang.
- Hnh Gauss.

Cc php ton trn tp m
Cho tp E v A
, B
l hai tp m con ca E, ngha l:

( ) { }
A
A: x / (x); x E =
,
A
(x) nhn cc gi tr trong khong [0;1]
( ) { }
B
B: x / (x); x E =
,
B
(x) nhn cc gi tr trong khong [0;1]
Cc tp m cng c 3 php ton c bn l php hp, php giao v php b.
Php hp (OR): Hp ca 2 tp m A
v B
c cng c s E l mt tp m
cng xc nh trn c s E vi hm lin thuc :
| | { }
A B
A B: x / (x) , x E
=

(1.2)
Trong :
A B A B
(x) = Max{ (x), (x)}, x E
(1.3)
4
m
Singleton
Tam gic
Hnh thang
(x)
(x)
(x)
x x x
0
m 1
m
2
m
3
m
1
m
2
m
3
m
Hnh 1.1 Mt s dng hm lin thuc.
(x)
x
Gaus
m
Lun vn thc s


-16-
Php giao (AND): Giao ca 2 tp m A
v B
c cng c s E l mt tp m
cng xc nh trn c s E vi hm lin thuc:
| | { }
A B
A B: x / (x) , x E
=

(1.4)
Trong :
A B A B
(x) = Min{ (x), (x)}, x E
(1.5)
Php b (NOT): cho tp m A
, gi tp tp b m ca A
l A
v c nh
ngha bi:
( ) { }
A
A: x / (x); x E =
(1.6)
Vi:
A A
(x) 1 (x) = (1.7)
th m t cc php ton hp, giao v b ca hai tp m nh hnh (1.2)

1.2.3 Bin m, hm bin m, bin ngn ng
Cho tp m A
c hm lin thuc l
A
(x) hm lin thuc ny cng chnh l
hm lin thuc ca phn t x ca tp m A
. Lc ny ta dng cc k hiu:

A B
a : (x), b : (x), ... = =

(1.8)
Th ta gi a, b

l cc bin m.
Cho y f (a, b,...) =

l mt hm ca cc bin a, b,...

iu kin y c gi l
hm bin m l y ch ph thuc vo cc bin m v tho mn iu kin:
0 y 1 (1.9)
x
x
x

A
(x)
B
(x)
A
(x)
A
(x)
a. Hp hai tp m b. Giao hai tp m c. Php b
B
(x) A
(x)
Hnh 1.2
Lun vn thc s


-17-
Bin ngn ng l mt bin m c th gn cc gi tr ca bin cng c biu
hin bng ngn ng. y cc gi tr ca bin c c trng bi nh ngha tp
m trong min xc nh m bin c nh ngha.
V d tc ng c c cc gi tr ngn ng l: rt chm, chm, trung bnh,
nhanh, rt nhanh ...
1.2.4 Suy lun m v lut hp thnh
Suy lun m: Suy lun m thng c gi l suy lun xp x (Fuzzy
reasoning or approximate reasoning) l th tc suy lun (inference procedure)
suy din kt qu t tp cc quy tc Nu .... Th theo mt hay nhiu iu kin.
Lut hp thnh: Gi thit quan h iu khin gia y v x c biu din
nh hnh 1.3. Khi cho x = a th vi quan h y = f(x) th ta suy ra y = f(a) = b.
Tng qut ta cho a l mt khong v f (x) l hm ca mt khong gi tr nh
hnh 1.4.

tm khong kt qu y = b ng vi khong x = a trc tin ta m rng
vng a theo kiu hnh tr t X sang vng X Y v tm vng I l giao c a khong
gi tr a vi hm ca khong gi tr f(x) v sau chiu ln trc Y ta c y = b.
M rng hn cho A
l tp m ca X v R l quan h m trn X Y . tm
tp m kt qu B
ta li xy dng kiu m rng hnh tr c(A) vi A lm c s (m

rng vng A t X sang X Y ). Sau tm phn giao ca c(A) vi R v chiu ln
trc Y ta s tm c tp m kt qu B
.
Cho cc hm lin thu c
A
,
C/A
,
B
,
R
tng ng vi cc tp m
A
, C(A)
, B
, R
trong
C/A
(x,y) =
A
(x). Ta c:
x = a x = a
Y
X 0
y = f(x)
y = b
Hnh 1.3
Y
X
0
y = f(x)
y = b
Hnh 1.4
I
Lun vn thc s


-18-

C/ A R C/A R A R
= Min{ (x,y), (x,y)} = Min{ (x), (x,y)}
(1.10)
Hnh chiu ca tp c /AR ln trc Y l:

B A R
(y) = MaxMin{ (x), (x,y)} (1.11)
Hay:
B A R
(y) = [ (x) (x,y)] (1.12)
(1.10) l biu hin s hp thnh Max-Min.
Nu ta chn php (V) l ly tch v php (Hoc) l php Max th (1.11) s
l:
B
(y)
A R
[ (x). (x,y)] = (1.13)
(1.13) l biu hin ca lut hp thnh Max-Prod.
ng vi mi lut hp thnh khc nhau ta c phng php suy lun m khc
nhau nh suy lun m da trn lut hp thnh MAX -MIN, suy lun m da trn
lut hp thnh MAX -PROD v.v
V d ta i xy dng cng thc tng qut cho suy lun m khi s dng lut
hp thnh Max -Min nh sau:
Cho A
,
'
A
v B
l cc tp m ca tp c s X.X v Y. Gi thit lut ko

theo m A
c th hin nh mt quan h m R trn X Y nh vy tp m

'
B
cm sinh t x l A v lut m nu x l A th y l B s c xc nh bi:

B' A' R
(y) = MaxMin{ (x), (x,y)} (1.14)
Hoc:
B' A' R
(y) = [ (x) (x,y)] (1.15)
Hay: B' = A' * R = A' * (A B)

(1.16)
(1.16) l cng th c tng qut cho suy lun m s dng lut hp thnh
MaxMin.
1.2.5 B iu khin m
S chc nng b iu khin m c bn nh hnh (1.5), gm 4 khi l khi
m ho (1), khi hp thnh (2), khi lut m (3) v khi gii m (4).
Khi m ho c nhim v bin i cc gi tr r u vo thnh mt min gi
tr m vi hm lin thuc chn ng vi bin ngn ng u vo c nh
ngha.
Lun vn thc s


-19-
Khi hp thnh dng bin i cc gi tr m ho ca bin ngn ng u
vo thnh cc gi tr m ca bin ngn ng u ra theo cc lut hp thnh no .
Khi lut m (suy lun m) bao gm tp cc lut "Nu ... Th" da vo cc
lut m c s, c ngi thit
k vit ra cho thch hp vi tng
bin v gi tr ca cc bin ngn
ng theo quan h m Vo/Ra.
Khi lut m v khi hp thnh
l phn ct li ca b iu khin
m, v n c kh nng m phng
nhng suy on ca con ngi
t c mc tiu iu khin mong mun no .
Khi gii m bin i cc gi tr m u ra thnh cc gi tr r iu khin
i tng. Mt b iu khin m ch gm 4 khi thnh phn nh vy c gi l b
iu khin m c bn. Trong iu khin ngi
ta thng s dng ba phng php gii m
chnh, l :
- Phng php im cc i: c thc
hin theo hai bc:
Bc 1: Xc nh min cha gi tr r
u ra y. l min m gi tr r u ra y c
hm lin thuc t gi tr cc i (min G nh
hnh 1.6)

{ }
B
( y) M
G y Y|
ax =
= (1.17)
Bc 2: Xc nh y t min G theo mt trong ba nguyn l (v d theo hnh
1.6)
* Nguyn l trung bnh:
1 2
y y
y
2
+
=
* Nguyn l cn phi:
2
y y =
Hnh 1.5 S khi chc nng ca b iu
khin m.

X Y

2 4
3

1
B
Min G
Bmax
Hnh 1.6 V d v cch xc
nh min G.
y
1
y
2
y

Lun vn thc s


-20-
* Nguyn l cn tri:
1
y y =
- Phng php trng tm: gi tr r u ra c ly theo im trng tm ca
hnh bao bi hm lin thuc hp thnh v trc honh (hnh 1.7). Lc ny gi tr r
u ra c xc nh :

B
S
B
S
y. (y)dy
y
(y)dy
(1.18)

- Phng php im trung bnh tm: Gi tr r y l gi tr trung bnh cc gi
tr c tha mn cc i ca
B
(y) v d theo hnh 1.8 ta c gi tr gi tr r u ra
y c xc nh:
1 1 2 2
1 2
h y h y
y
h h
+
=
+
(1.19)
B iu khin m ng: m rng
ng dng cho cc bi ton iu khin, ngi ta
thng b sung thm vo b iu khin m c
bn cc khu tch phn, o hm, b iu khin
c dng nh hnh 1.9 c gi l b iu khin
m ng.
1.2.6 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.
y

B

B Max
B
1
B
2
Hnh 1.7
y
S
B
y
2
y
1
y

h
1
h
2
Hnh 1.8
y
e
Hnh 1.9 B iu khin m ng.

B iu
khin
m c
bn

I
P
D
Lun vn thc s


-21-
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 x 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 1.10 th hin tng thit lp b
iu khin m lai F-PID v phn vng tc ng ca chng.

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:
if ,e(t), dng ln v ) t ( e dng ln th u l FLC (1.20)
if ,e(t), dng nh v ) t ( e dng nh th u l PID (1.21)
thc hin chuyn i m gia cc mc
FLC v b chuy n 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 1.11).
Cc b iu chnh ny c chung thng tin u v o 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:
e
e
PID
2
PID
n

PID
1
Hnh 1.11 Vng tc ng
ca cc b iu khin.
e(t)
FLC
PID
i
tng
y
dt
d

e(t)
FLC
Hnh 1.10 a) Nguyn l iu khin m lai;
b) Vng tc ng ca cc b iu khin.

a)
b)
PID
u
Lun vn thc s


-22-
Nu ( trng thi ca h ) l Ei th ( tn hiu iu khin ) = u
i

Trong i = 1, 2,..., n; Ei l bi n ngn ng ca tn hiu v o, u
i
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:
t
Pi Di
0
de
ui = K e + K e(t)dt K
dt
+
(i = 1, 2, ... n) (1.22)
Nh vy, cc h s ca b iu chnh PID
i
mi ph thuc cc tn hiu u
vo, tng qut hn l ph thuc vo trng thi ca h. Nu coi cc h s K
Pi
, K
Di
, v
K
Ii
chnh l kt qu gii m theo phng php trung bnh trng tm t ba h m
hm:
H m hm tnh h s K
P
vi h lut:
Ru(i): if ER is E
p
and CER is DE
q
then K
i
P
= K
Pi
(.)

(1.23)
H m hm tnh h s K
D
vi h lut:
Ru(i): if ER is E
p
and CER is DE
q
then K
i
D
= K
Di
(.)

(1.24)
H m hm tnh h s K
I
vi h lut:
Ru(i): if E is E
p
and DE is DE
q
then K
i
I
= K
Ii
(.)

(1.25)
Khi cc h s K
pi
, K
Di
v K
Ii
c m ho bi cc tp m, c th xem nh h
lc gm 3 tp m chun i vi cc h s K
pi
, K
Di
v K
Ii
. Trong trng hp ny,
cc h s ca b iu chnh PID mi c th tnh nh sau:
n n n
PN i Pi DN i Di LN i Ii
i 1 i 1 i 1
K (t)y ; K (t)y ; K (t)y
= = =
| | | | | |
= = =
| | |
\ . \ . \ .

Trong
Pi Di Ii
y , y , y
tng ng l tm cc tp m ca h s K
pi
, K
Di
v K
Ii

c m ho.
Nhn xt:
Qua nghin cu ta thy rng b iu khin m c tnh phi tuyn mnh, kh
nng chng nhiu cao, n rt ph hp vi h c tnh phi tuyn, ph thuc thi gian,
c tham s ri v thi gian tr ln. Hin nay vic thit k b iu khin m cn ph
thuc rt nhiu vo kinh nghim vn hnh h thng v kin thc chuyn gia m
cha c c phng php chun ho thit k b iu khin m.

Lun vn thc s


-23-
1.3 TNG HP B IU KHIN THCH NGHI
1.3.1 Gii thiu tng quan
L thuyt iu khin thch nghi ra i t nhng nm 50 ca th k 20 v
c hnh thnh nh mt mn khoa hc, t t duy tr thnh hin thc, t cch gii
quyt cc vn c bn tr thnh bi ton tng qut, t vn v s tn ti v kh
nng c th gii quyt n nhng p dng nh hng xut pht t tnh bn vng v
cht lng.
Thch nghi l qu trnh thay i thng s v cu trc hay tc ng iu khin
trn c s lng thng tin c c trong qu trnh lm vic nhm t c mt
trng thi nht nh (thng l ti u) khi thiu lng thng tin ban u cng nh
khi iu kin lm vic ca h thng thay i.
Ni cnh khc: iu khin thch nghi l tng hp cc k thut nhm chnh
nh cc b iu chnh trong mch iu khin nhm thc hin hay duy tr cht
lng ca h thng mt mc nht nh khi thng s ca qu trnh iu
khin khng bit trc hoc thay i theo thi gian.
Trong vng 40 nm tr li y l thuyt iu khin thch nghi c hnh
thnh nh mt mn khoa hc, t t duy tr thnh hin thc, t cch gii quyt
vn c bn tr thnh bi ton tng qut.
Cu trc c bn h thng thch nghi c trnh by nh hnh 1.12.
H thng iu chnh theo yu cu no th vi cc i lng vo, phi cho
c cc i lng ra mong mun. Nhng do nhiu yu t nh hng nh nhiu,
cc i lng vo qu ln hay khng bit trc, do t c theo yu cu, h
thng phi c t ng thch nghi b sai s. C cu thch nghi to ra tn hiu thch
nghi bng tn hiu t khu so snh. Cc ch tiu cht lng theo yu cu t trc
IP*, cho vo khu so snh vi nhng gi tr c o lng v tnh ton theo cc
thng s thc trng ca h thng iu chnh (cc tn hiu ca i lng vo, i
lng ra, cc nhiu).

Lun vn thc s


-24-

Mch vng thch nghi thng qua c c u thch nghi iu khin thng s
ca h thng iu chnh, hay thay i cc u vo theo c cu thch hp tiu
chun t trc IP* v tiu chun (Index of Performance) c sai lch nh nht.
Cu trc ca h thng thch nghi gm ba khu c bn:
- o lng theo tiu chun IP no .
- Khu so snh.
- C cu thch nghi.
Cc tiu chun IP c th l: Cc ch s tnh, cc ch s ng, cc ch s ca cc
thng s, hm ca cc bin thng s v cc tn hiu vo.
C cu thch nghi c th l:
- Thch nghi thng s.
- Tng hp mt tn hiu b sung.
Chin thut thch nghi c th l:
- Tin nh.
- Phng on (scholastic).
- T hc.
H thng cn iu khin s c iu khin thch nghi n nh theo thng s
no , cho d tn hiu vo l khng bit trc hay l qu ln. H iu khin thch
nghi c 3 s chnh:
Tn hiu ra
Nhiu bit
trc
Tiu chun
t trc IP
Tn hiu vo
Nhiu khng
bit
H thng
iu chnh
C cu
thch nghi
So snh
o lng theo
tiu chun IP
Hnh 1.12 Cu trc c bn ca h thng thch nghi.
Lun vn thc s


-25-
- iu chnh h s khuch i.
- iu khin theo m hnh mu.
- H t iu chnh.

Cc thng s ca b iu chnh c hiu chnh nh mch vng ngoi da
trn c s sai s gia m hnh mu y
m
v qu trnh y. Vn l xc nh c cu
hiu chnh ny sao cho n nh v sai s tin v bng 0.

Hnh 1.13 iu chnh h s khuch i.

u ra
o lng
so snh
Tn hiu
ch o
i tng
B iu chnh
thng s
B iu chnh
iu chnh h
s khuch i
(+)
(-)
Tn hiu
ch o
Ra ca h y
Mch vng trong
Sai s
Ra ca m hnh y
m
Mch vng ngoi
M hnh mu
B iu chnh
C cu
thch nghi
i tng
Hnh 1.14 iu khin theo m hnh mu.

Tn hiu ra
Tn hiu

iu khin
Tn hiu
ch o
Cc thng s
ca qu trnh
Tnh ton
thit k
B iu chnh
nh gi
thng s
Hnh 1.15 iu khin t chnh.

i tng
Lun vn thc s


-26-
1.3.2 Tng hp iu khin thch nghi trn c s l thuyt ti u cc b
(Phng php Gradient)
Xt h thng iu khin thch nghi nh hnh v:

Xt m hnh mu cho bi phng trnh:
2
1 2 0
(1 a p a p ) b u) + + = (1.26)
H iu khin cho bi phng trnh:
2
1 2 0
(1 a p a p ) b ( , t).u + + = (1.27)
Trong :
y
m
, y
s
: L tn hiu ca m hnh v i tng.
u: L tn hiu vo.
0
b ( , t) : L thng s c th c iu chnh, c th coi

0
b ( , t) nh c 2 phn.
Mt phn b
0
l chun do c cu thch nghi y ta cn hiu chnh
0
b ( , t) hi t
v b
0
.
Hm mc tiu ca vic iu chnh ny l hm cc tiu (1.3)
k k
k k
t t t t
2
t t
1 1
(IP) L( , t)dt (t)dt min
2 2
+ +
= =
(1.28)
Trong :
L(,t): L dng bnh phng ca sai s.

Y
s
(-)
Y
m
(+)
u
M hnh mu
B iu chnh i tng
Hnh 1.16 Cu trc m hnh mu song song.

C cu
thch nghi
Lun vn thc s


-27-
= y
m
y
s
: Sai s u ra gia cc m hnh v h thng iu chnh, ph thuc
gin tip v sai lch
0 0
b b ( , t) .
p dng phng php Gradient, ta tm lut thch nghi c bn:
0
0
(IP)
b ( , t) - K grad(IP) = - K
b
(

=
(1.29)
Trong : +
0
b : Ch r lut thay i
0
b ( , t) .
+ K: H s thch nghi c gi tr tng ng.
Tng ng c tc thay i ca thng s iu chnh
0
b ( , t) :
0
0
db
K
dt t
b
| | (

= |
|

\ .
(IP)

(1.30)

Gi thit qu trnh thch nghi chm, tc l bin i trong (IP) c dn n
t s bin i
b( , t) ti mi thi im nh nht.
Vit li phng trnh ta c:
0
0 0
db 1 L( , t)
K K

dt 2
b b

= =

(1.31)

Lut thch nghi (1.31) c gi l lut MIT.
cc nh c cu thch nghi, ta o hm
m s
y y = theo
0
b :
m s s
0 0 0 0
y y y y

b b b b

= = =

(1.32)
Thay (1.31) vo (1.32) ta c lut thch nghi l:
s
0
0
y d
b ( , t) K
dt
b
(1.33)
Ly o hm ring hai v ca phng trnh (1.27) theo b
0
ta c:
s s s
1 2
0 0 0
y y y
p a a

b b b

=

(1.34)
Gi thit l qu trnh thch nghi chm, thng s
0
b bin i chm, phng

trnh (1.34) ly gn ng:
Lun vn thc s


-28-
2
s s s
1 2
2
0 0 0
y y y
p a a

t t b b b
( (

=
( (

( (

(1.35)
Vit gn li ta c:
( )
2 s
1 2
0
y
1 a p a p u
+ + =
(1.36)
So snh phng trnh (1.36) v (1.26) ta rt ra:
s s
0
0
y y
b
b
(1.37)
Thay (1.37) v (1.33) ta c:
0 s
0
db y
( , t) K
dt b
=

(1.38)
Do lut thch nghi l:
0
m
db
( , t) K' . .y
dt
=
(1.39)
Vi
'
0
K
K
b
=
(K > 0)
Trng hp tng qut, ta c m hnh mu cho bi phng trnh:
n m
i j
i m j
i 0 j 0
a p Y b ( , t)p
= =
| |
| |
=
|
|
\ .
\ .
(1.40)
i tng iu khin c biu din bi phng trnh:

n m
i j
i s j
i 0 j 0
a ( , t)p Y b ( , t)p
= =
| |
| |
=
|
|
\ .
\ .
(1.41)
Vi tiu chun ti u (IP) cho bi phng trnh (1.28) v a
0
= 1 ta tm c
lut thch nghi:
a i s
i
i
da y
( , t) k . .
dt a
; i = 1,2,...n (1.42)

j
b s
i
j
db
y
( , t) k . .
dt
b
; j = 1,2,...m (1.43)
Trong k
i
a
, k
j
b
l hng s dng.
Lun vn thc s


-29-
Mun tm c cu thch nghi, ta xc nh cc hm nhy:
s
i
y
v
s
j
y

Theo (1.41), ti thi im t = t
1
, ta thy:
n m
i j
s i s j
i 1 j 0
Y a ( , t)p Y b ( , t)p u
= =
| |
| |
= =
|
|
\ .
\ .

(1.44)
Gi thit tc bin thin ca cc h s iu chnh chm, t (1.44) vi phn
hai v theo
i
a v
j
b
ta nhn c:
1
n
i i s
s i
i 1
i i
t t
Y Ys
p Y - a ( , t)p
a a
=
=
| |
=
|

\ .
(1.45)
1
m
j i s s
i
j 1
j
j
t t
Y Y
= p u - b ( , t)p
b
b =
=
| |
\ .
(1.46)
T suy ra hm truyn ca b lc l:
s
n
i
i
i 1
1
F (s)
1 a ( , t)p
=
=
+
(1.47)
Trong trng hp n gin, c th ly gn ng ho hm nhy cm, nhn
c:
i s
s
i
Y
p Y
Vi i = 1,2,3,...., n (1.48)
j s
j
Y
p
Vi j = 1,2,3,...., m (1.49)
V d: Xt i tng m t bi:
m
dy
ay bu
dt
= +
; M hnh mu c m t bi
phng trnh:
m
m m
dy
a y b u
dt
= +

Tn hiu iu khin:
1 c 2
u(t) u (t) y(t) =

t: e = y- y
m

Trong y l u ra ca h kn, ta c:
1
c
2
b
Y U
s a b
=
+ +
; Vi
d
s
dt
=
l ton t vi phn.
Lun vn thc s


-30-
Hm nhy c xy dng bi o hm ring sai s theo cc bin
1
v
2
:
1
c
1 2
b E
U
s a b

=
+ +

2
1
c
2
2 2 2
b E b
U Y
s a b (s a b )

= =
+ + + +

Cc cng thc trn khng th s dng trc tip v khng bit a, b do ta s
dng phng php gn ng. Ta thy rng khi s + a + b
2
= s + a
m
th

tham s ca
h thng hon ton ging vi m hnh mu. V vy coi gn ng: s + a + b
2
s +
a
m.
Ta nhn c quy lut iu khin tham s:
e u
a s
a
dt
d
c
m
m
|
|
.
|
\
|
+
=
1
(1.50)
e U
a s
a
dt
d
c
m
m
|
|
.
|
\
|
+
=
trong (1.50) ni ln tc hi t ca thut thch nghi.

Tm li: Phng php Gradient gip ta d dng tm ra lut iu khin
nhng ch gii hn min bin thin thng s trong di hp. Kh kho st vng

2
1
+

e

-
u

y

y
m
u
c

G(s)

-
s

m
m
b
s a +

m
m
b
s a +

G
s
(s)
Hnh 1.17 S khi h thng iu khin thch nghi theo m hnh.

+
Lun vn thc s


-31-
n nh ca h thng, c bit i vi h bc cao th khng th xc nh c
vng n nh chnh xc.
1.3.3 Tng hp h thng iu khin thch nghi trn c s n nh tuyt
i.
Xt h thng iu khin theo m hnh song song c cu trc nh hnh (1.18)
M hnh mu c m t bi h phng trnh vi phn:

m m m m m
X A .X B .U = +
(1.51)
i tng iu khin c m t:

p p p p p
Y A (e, t).Y B (e, t).U = +
(1.52)
Trong : e = X
m
- Y
p
(1.53)
Tn hiu iu khin a vo h thng c iu khin:

p m m p p u m
U K X K Y K U = + (1.54)
Vi:
Y
p
: l vct trng thi ca i tng iu khin, bc mx1.
X
m
: l vct trng thi ca m hnh bc nx1.
U
m
: l vct i lng vo m hnh bc mx1.
U
p
: l vct i lng vo h thng c iu khin, bc mx1.
A
m
, B
m
, A
p
, B
p
, K
m
, K
u
: l cc ma trn hng, c bc tng ng.
Gi thit:
- Cc cp ma trn [A
m,
B
m
] v [A
p,
B
p
] l n nh vi A
m
l ma trn Hurwitz.
- Cp [A
p,
B
p
] c tnh iu khin.
Bi ton tng hp h iu khin thch nghi c t ra y l xc nh cc
ma trn K
u
, K
m
sao cho vi cp A
m
, A
p
, B
m
, B
p
th cc i lng trng thi ca h
thng iu khin bm theo cc i lng trng thi ca m hnh.
Theo iu kin Erzberger, qu trnh c iu khin bm cht theo m hnh
khi v ch khi:
e(t) = X
m
- Y
p
= 0 (1.55)

m p
e X Y 0 = =

(1.56)
C hai s thch nghi c bn, c chng minh l tng ng nhau:
Lun vn thc s


-32-
S thch nghi thng s: (hnh 1.18) Trong s ny cc ma trn K
U
(t),
K
p
(t) cn thay i b p li cc bin thin thng s ca h thng cn iu khin.

S tng hp tn hiu b sung U
p2
(hnh 1.19): Trong s ny tn
hiu b sung U
p2
(t) c a thm vo h iu khin.

Xt biu thc tn hiu vo:

p p p u m m m
U (t, e) K (t, e).Y K (t, e).U K .X = + +
(1.57)
t
p p p
K (t, e) K K (t, e) =

u u u
K (t, e) K K (t, e) =
+
+
+
+
Y
m

M hnh mu
i tng
iu khin
Hnh 1.18 Phng php thch nghi thng s.

K
m

K
u

K
p

C cu
thch nghi
-
U
M

+
+
+
+
+
+
Y
m

M hnh mu
i tng
iu khin
Hnh 1.19 Phng php tng hp tn hiu b sung U
p2
.

K
m

K
u

C cu
thch nghi
-
U
M

U
p2

K
p

U
p1

Lun vn thc s


-33-
Vi:
p u
K , K
: l cc ma trn hng.
u p
K (t, e) , K (t, e)
: l cc thnh phn bin thin ca K
u
, K
p
.
Tng t i vi U
p
(t,e).

p1 p p u m m m
U (t, e) K .Y K .U K .X = + +

p2 p p u m
U (t, e) K .Y J .U = +

Nh vy tn hiu iu khin vo (1.32) tr thnh:

p p p m m u m p2
U (t, e) K .Y K .X K .X U (t, e) = + + +
(1.58)
Tn hiu U
p2
(t,e) l tn hiu b xung t mch vng thch nghi, c to ra th
no c th b p c s bin thin ca thng s, dn n h thng bm cht
theo m hnh.
1.3.4 Tng hp h thng iu khin thch nghi dng l thuyt Lyapunov
L thuyt n nh Lyapunov
c tm ra bi nh bc hc Nga
Lyapunov vo cui th k 19. T
tng ca phng php Lyapunov
c xy dng trn c s bo tn
nng lng ca mt h vt l. H vt
l ny c nng lng ton b trng
thi cn bng bng 0, xung quan h
trng thi cn bng nng lng ca h ln hn 0 v c xu th tin n 0. Trng thi
cn bng c gi l n nh nu vng xung quanh im cn bng ca h thng,
gi tr ca hm gim dn hoc khng thay i.
kim tnh n nh ca h thng ca h thng ti v tr X
e
, cn phi xc
nh c hm nng lng V(x) - gi l hm Lyapunov, ph thuc vo trng thi
ca h thng. Khng gim t ng qut nu coi X
e
l im gc ca khng gian trng
thi v ln cn 0 hm V(0) xc nh dng. Khi vect :
T
1 n
V V
gradV = , ....,
x x
| |

|

\ .
lun hng ra xa im gc. Do nu vect gradV l vect
Qu o
ng ng mc
V(x)=k
1
V(x)=k
2
<k
1

grad V

Hnh 1.20 Minh ho phng php
Lyipunov vi vic kho st tnh n nh.
Lun vn thc s


-34-
.
X (
.
X l vect tip tuyn ca qu o pha ca h) lp vi nhau mt gc
0
90 th
qu o pha X(x
0
,t) lun c h ng v gc t o . iu ny tng ng
vi:
( )
. .
T
V gradV X gradV X cos <0 = =
.
Gi sai s gia i tng v m hnh l: e = y - y
m
. Bi ton t ra l cn tm
hm Lyapunov v c cu thch nghi sai s tin n 0.
Xt h bc nht c m t bi phng trnh:
dy
ay bu
dt
= +

Gi thit m hnh mu c m t bi:

m
m m m c
dy
a y b u
dt
= +
vi a
m
> 0 v tn hiu c gii hn.
Tn hiu iu khin:
1 c 2
u u y = vi
1 2
, l cc tham s iu chnh.
Sai s: e = y - y
m

o hm phng trnh sai s ta c:
( ) ( )
m 2 m 1 m c
de
a e b a a y b b u
dt
= + +

Cn phi cho sai s tin n 0 nu cc tham s tin n cc gi tr:
0 m
1 1
b
b
= =
;
0 m
2 2
a a
b
= =

Ta tm cch xydng mt c cu iu chnh thng s iu chnh cc tham
s
1
v
2
ti ga tr mong mun. Mun vy vi gi thit b 0 > v c hm bc 2 sau:
( ) ( ) ( )
2 2
2
1 2 2 m 1 m
1 1 1
V e, , e b a a b b
2 b b
(
= + + +
(

Hm ny s bng 0 khi sai s e = 0. V tham s b iu chnh bng gi tr
t. hm ny c coi nh hm Lyapunov th o hm
dV
dt
phi m.
Lun vn thc s


-35-
( ) ( )
2 1
2 m 1 m
d d dv 1 de 1 1
e b a a b b
dt 2 dt dt dt
(
= + + +
(

( ) ( )
2 2 1
m 2 m 1 m c
d d 1 1
a e b a a ye b b u e
dt dt
| | | |
= + + +
| |

\ . \ .

Nu nh cc tham s c dng:
1
c
d
u e
dt
=
;
2
d
ye
dt
=
( - tc hi t) ta nhn c:
2
m
dv
a e
dt
=

T nh l Lyapunov, sai s tin n gn 0. Tuy nhin, cc tham s cng cn
phi hi t dn n gi tr t. S cu trc ca h biu din trn hnh (1.21).

So snh vi s hnh (1.17) theo lut MIT ta thy chng ch khc l khng
c khu lc ca tn hiu u
c
v y.
Nhn xt:
- Trong c hai trng hp, lut iu chnh thch nghi cc tham s theo
Gradient v theo Lyapunov c th c vit di dng tng qut:

d
e
dt
=
(1.59)
vi l mt vct tham s.
y
m
e

Hnh 1.21 S khi h MRAS da trn l thuyt Lyapunov cho
i tng bc nht

2

1

u

y

G
m
(s)
s

U
c

G
m
(s)
s

+

-

+

-

Lun vn thc s


-36-

T
c
[-u y] =
i vi lut Lyapunov.
| |
T
c
m
m
u
a s
a
y
+
= i vi lut Gradient.
So vi lut Gradient, lut iu chnh xy dng t l thuyt Lyapunov n
gin hn v n khng yu cu phi lc tn hiu.
- Phng php hm Lyapunov c mt s u im trong bi ton n nh. Bi
v n c xy dng trn c s cc hm bit, khng i hi tm nghim bng cc
thut ton phc tp. Kinh nghim trong vn xy dng hm Lyapunov l tm hm
ti u cho tng trng hp c th, tc l tm hm cho iu kin tt nht ca bi
ton n nh.
- i vi cc h c v phi ph thuc thi gian vic xay dng hm Lyapunov
gp nhiu kh khn hn nhiu so vi h dng (khng ph thuc thi gian).
- Vic xy dng hm Lyapunov trong min cho trc i vi h phi tuyn
khng th khng nh gii quyt mt cch trn vn v y . Thc t cho thy
cha c mt loi hm Lyapunov no mang tnh tng qut.
1.4 KT LUN CHNG 1
L thuyt iu khin kinh in ra i sm, vic tng hp b iu khin kinh
in cho h tuyn tnh t ti mc tng i hon chnh v n pht huy tc
dng trong c thi gian di. Song i vi h phi tuyn v h c thng s bin i th
l thuyt kinh in t ra c nhiu hn ch, vic tng hp thng phi dng cc
phng php gn ng.
L thuyt iu khin thch nghi ra i t nhng nm 50 ca th k 20 v
c hnh thnh nh mt mn khoa hc, t t duy tr thnh hin thc, t cch gii
quyt nhng vn c bn tr thnh bi ton tng qut, t vn v s tn ti v
kh nng c th gii quyt n nhng p dng nh hng xut pht t tnh bn
vng v cht lng. Trong iu khin thch nghi tc gi quan tm nhiu ti cc h
thch nghi c xy dng theo phng php Gradient v Lyapunov, n c dng
lm c s cho vic xut cc phng php tng hp h thch nghi m sau ny.
L thuyt tp m ra i t nm 1965 v c p dng trong nhiu lnh
vc nht l trong lnh vc iu khin. Hin nay iu khin m l mt trong cc
Lun vn thc s


-37-
phng php iu khin ni bt bi tnh linh hot v kh nng ng dng. Vi tc
pht trin vt bc ca tin hc chp cnh cho s pht trin a dng v phong ph
ca iu khin m. Tuy nhin tng hp c b iu khin m theo mt logic
cht ch v tng hp cc b iu khin m nng cao nh m thch nghi, m -
noron vn cn ang b ng, thu ht s quan tm ca nhiu nh nghin cu.
.
.
.
H thng

Lun vn thc s


-38-
CHNG 2: KHO ST CHT LNG CA
H TRUYN NG C KHE H
2.1 KHI QUT V H TRUYN NG
H truyn ng v ang c ng dng rng ri trong thc t. i tng
iu khin thng l mt h phi tuyn vi cc tham s khng c bit trc. Cc
tham s ny c th l xc nh hoc bt nh v chu nh hng ca nhiu tc ng.
Xt mt h truyn ng SISO c phng trnh ng lc hc phi tuyn c
m t bi h phng trnh trng thi (2.1).

1
dx
F(x) G(x)u
dt
y x
= +
(2.1)
Trong :
1 2 n
x (x , x , ..., x ) = l mt vector cc bin trng thi ca h;
F(x) v G(x) l hai hm phi tuy n ph thuc vo cc bin trng thi x ca
h;
u l tn hiu iu khin tc ng vo h;
y l tn hiu ra ca h.
Mt s tnh cht ca h truyn ng phi tuyn c nu [36] m cc
tnh cht thng c xt n i vi mt h l:
Tnh n nh ca truyn ng (mt cch nh tnh): mt h thng n nh l
khi n bt u mt v tr no , n s tip tc lm vic ln cn v tr ny trong
sut thi gian sau . y l tnh cht u tin cn t c ca h thng.
Tnh chnh xc v t c p ng: sai s qu o truyn ng thc ca h
thng so vi qu o truyn ng mong mun phi nm trong sai lch cho php v
thi gian t c sai lch ny phi nm trong mt khong thi gian cho php.
bn vng: l nhy cm ca h thng i vi nhng thay i khng
bit trc, chng hn nh tham s ca nhiu hay ca cc phn t phi tuyn khng
th hoc kh c m hnh ton.
dx
F(x) G(x)u
dt
= +

u
y
Hnh 2.1 S khi tng qut h truyn ng
Lun vn thc s


-39-
Chi ph ca h: chi ph ca h c xc nh t s lng v chng loi cc
thit b truyn ng, thit b cm bin v h thng thit b iu khin v my tnh h
tr.
V mt iu khin cc c im ca h truyn ng l:
L h phi tuyn, c cha cc tham s kh xc nh chnh xc v phm vi tc
bin thin ca tham s cng kh xc nh.
C cc phn t v khi thit b khng th vit c m hnh ton.
Khng bit c chnh xc v y tn hiu vo.
Vi cc h thng iu khin truyn ng yu cu cht lng khng cao th
trong qu trnh tnh ton, thit k ta c th thay th m hnh phi tuyn ca i tng
bng m hnh tuyn tnh v tin hnh kho st, tnh ton. Tuy nhin vi nhng h
yu cu cht lng cao th vic tuyn tnh nhiu khi gy sai s ln v h khng
p ng c cc ch tiu cht lng ra.
Vi nhng h iu khin phc tp, cha cc i tng iu khin c phi
tuyn mnh, c bit vi nhng i tng m s hiu bit v chng l cha y
th vic m t ton hc bng cc phng php gii tch quen thuc khng th thc
hin c. Khi vic xc nh (2.1) v iu khin n thng c tin hnh theo
hai bc.
Bc 1: Nhn dng h thng
Tu thuc vo c im ca mi h thng m c th.
Thc nghim ly c tnh vo - ra. Khi ch ly c mt s cp gi tr vo ra
th da vo ta ni suy ra c tnh ca h.
Xc nh m hnh ton ca h.
Bc 2: iu khin h thng
Xy dng cc lut iu khin sau khi nhn dng c h thng. Trong
thc t iu khin h thng, bi ton nhn dng v bi ton iu khin c th thc
hin c lp theo hai giai on l nhn dng l offline sau iu khin hoc
cc iu kin nht nh ta c th thc hin qu trnh nhn dng v iu khin ng
thi l bi ton nhn dng online v iu khin h.
Vi h phng trnh c bn m t truyn ng (2.1) cho n nay c nhiu
cng trnh trong v ngoi nc nghin cu, xut cc phng php nhn dng
v iu khin h c cng b.

Lun vn thc s


-40-
2.2 M T H PHI TUYN
Khi kho st c tnh ng hc ca mt i tng iu khin hay mt h
thng, n gin cc i tng kho st thng c coi l tuyn tnh. Khi h
thng c m t bng mt h phng trnh vi phn tuyn tnh v s dng nguyn
l xp chng kho st h. Khi s dng m hnh tuyn tnh kho st h thng
c mt s u im sau:
- M hnh lm vi c n gin, cc tham s m hnh tuyn tnh d dng xc
nh bng cc phng php thc nghim.
- Phng php tng hp b iu khin n gin.
- Cu trc n gin ca m hnh cng nh b iu khin cho php d dng
theo di c kt qu iu khin trn c s cho php chnh nh li thng s
cng nh cu trc ca b iu khin cho ph hp vi yu cu ra.
Do nhng u im trn m l thuyt iu khin tuyn tnh tm c min
ng dng rng ln. Ngay c trong cc trng hp i tng hay h thng l phi
tuyn, ngi ta cng tm cch thay th gn ng bng mt m hnh tuyn tnh d
thc hin bi ton tng hp v phn tch h.
Hu ht cc i tng iu khin trong cng nghip li c c tnh ng hc
phi tuyn, hoc trong h thng iu khin c mt hoc nhiu khu c c tnh ng
hc phi tuyn vi h ny khng th dng nguyn l xp chng kho st h. Tuy
nhin khng phi trong mi tr ng hp nhng gi thit cho php xp x h thng
bng m hnh tuyn tnh c tho mn lc ny bt buc phi kho st h l phi
tuyn.
Xt mt h thng MIMO c n tn hiu vo u
1
(t), u
2
(t), , u
n
(t) v m tn hiu
ra y
1
(t), y
2
(t), , y
m
(t).
Biu din tn hiu vo ra di dng vector ta c:
1
n
u (t)
u(t) ....
u (t)
(
(
=
(
(

v
1
m
y (t)
y(t) ....
y (t)
(
(
=
(
(

(2.2)
M hnh ny l m hnh ton hc biu din mi quan h gia vector tn hiu
vo u(t) v vector tn hi u ra y(t) . Tc l m t nh x : T : u(t) y(t) nh x ny
c vit di dng:
( )
y(t) T u(t) =
(2.3)
Lun vn thc s


-41-
Nh (2.3) m ta lun xc nh c vector tn hiu ra y(t) khi bit vector tn
hiu vo u(t) v vector cc trng thi tc thi

1
p
x (t)
x(t) ....
x (t)
(
(
=
(
(

(2.4)
Khi h c s khi nh sau:
Vi h phi tuyn do khng tho mn
nguyn l xp chng nn:

( )
n n
i i i i
i 1 i 1
T a u (t) a T u (t)
= =
| |

|
\ .
(2.5)

2.3 M HNH H PHI TUYN
2.3.1. M hnh tnh
Xy dng m hnh cho h thng l thit lp m hnh ton hc m t nh x
T : u(t) y(t)

M hnh tnh ca h phi tuyn l m hnh c quan h vo ra tho mn: Ti
thi im t
0
no gi tr vector tn hiu ra
0
y(t )
ch ph thuc vo gi tr vector tn
hiu vo
0
x(t ) . Tc l gi tr cc thng tin cc thi im khc nhau l c lp v
bnh ng. Khng c mi quan h no gia hai
trng thi k nhau.
Mt s khu phi tuyn tnh in hnh:
* Khu phi tuyn hai v tr: nhc im
chnh hn ch vic ng dng khu hai v tr l
khi u dao ng xung quanh im 0, khu ny
s phi lm vic vi tn s rt ln d lm hng
thit b. Quan h vo ra c m t bi phng
trnh:
y a.sgn(u) =
(2.6)
Vi sgn(u) l hm ly du ca u.
* Khu ba v tr: Vi nhng h s dng
b iu khin hai v tr c nhiu nh (xung
quanh im o) tc ng u vo i tng
H thng

x
1
(t)x
p
(t)

.
.
.
u
1
(t)
u
n
(t)
.
.
.
y
1
(t)
y
m
(t)
Hnh 2.2 S khi h MIMO.
u
b
-b
a
-a
0
y
Hnh 2.4 Quan h vo ra ca khu
phi tuyn ba v tr.
y
u
a
-a
0
phi tuyn hai v tr.
Lun vn thc s


-42-
ngi ta thng s dng b iu khin ba trng thi thay cho hai trng thi loi
b nh hng nhiu vo h. Quan h vo ra c m t bi phng trnh:
a.sgn(u) khi u b
y
0 khi u b
>
=

<
(2.7)
* Khu khuch i bo ho: l khu phi tuyn tnh c c tnh vo ra thuc
nhm tuyn tnh tng on. Khu ny
thng s dng khi phi thit k b iu
khin khuch i c gii hn trn, di
ca tn hiu u vo. Quan h vo ra
c m t bi phng trnh:
a sgn(u) khi u b
y
a
u khi u b
b
>
=

<
(2.8)

* Khu hai v tr c tr: Gi tr u ra y ca thit b hai v tr c tr khng
nhng ph thuc vo u m cn ph thuc
vo o hm ca tn hiu u vo. Quan h
vo ra c m t bi phng trnh:
a .sgn(u) khi u b
y
du
-a.sgn khi u b
dt
>
=

| |
<
|
\ .

(2.9)
* Khu khuch i c min cht.
Quan h vo ra c m t bi phng
trnh:

m(u b.sgn(u)) khi u b
y
0 khi u b
>
=

<
(2.10)
m : h s gc ca c tnh.

0
-b
b
u
a
-a
y
khuch i bo ho.
-b
0
-a
a
u
y
b
hai v tr c tr.
b
a
-b 0
u
-a
y
Hnh 2.7 Quan h vo ra khu
khuch i c min cht.
Lun vn thc s


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* Khu khuch i bo ho c tr:
du
F(u b) khi 0
dt
y
du
F(u b) khi 0
dt
>
(2.11)
Vi:
a.sgn(u) khi u b
F(u)
a
u khi u b
b
>
=

<

2.3.2 M hnh ng
M hnh ng ca h phi tuyn l m hnh c quan h vo ra tho mn: Ti
thi im t
0
no vc t tn hiu ra y(t) khng ch ph thuc vo vector tn hiu
vo u(t) ti thi im t
0
m cn ph thuc vo gi tr ti cc thi im trc
i
i
d y(t)
dt
.
Nu thm vo phng trnh ng hc m t quan h vo ra ca h cc bin
trung gian m t o hm ca vector tn hiu ra theo thi gian (v gi l cc bin
trng thi) th khi mt cch tng qut m hnh trng thi m t h phi tuyn c
dng:
dx
f(x, u,t)
dt
y g(x, u, t)
(2.12)
Trong :
1
n
u (t)
u(t) ....
u (t)
(
(
=
(
(

vector tn hiu vo;
1
m
y (t)
y(t) ....
y (t)
(
(
=
(
(

vector tn hiu ra
1
p
x (t)
x(t) ....
x (t)
(
(
=
(
(

vector bin trng thi ca h thng.

a
u
-a
0
y
-b b
Hnh 2.8 Quan h vo ra khu
khuch i bo ho c tr.
Lun vn thc s


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2.4 H TRUYN NG C KHE H
2.4.1 Gii thiu
H truyn ng c khe h l mt h truyn ng phi tuyn c s dng rt
rng ri trong thc t nh cc truyn ng bnh rng, truyn ng ai, truyn ng
xch, truyn ng vt - ai c, truyn ng trc vt - bnh vt, vv(hnh 2.9). Trong
h bnh rng, s truyn ng c thc hin nh n khp ca cc bnh rng trn
bnh rng hoc thanh rng. Truyn ng bnh rng c s dng trong nhiu loi
my v c cu khc nhau truyn chuyn ng quay t trc ny sang trc khc v
bin chuyn ng quay thnh chuyn ng tnh tin v ngc li. Truyn ng
bnh rng c dng rt rng ri bi v chng c nhng u im nh kh nng
truyn lc ln, h s c ch ln v truyn ng m. Truyn ng bnh rng l nhng
c cu quan trng trong t, my ko, ng c t trong, my cng c, my nng
nghip, ngi my, cn cu v nhiu thit b khcPhm vi tc v truyn lc
ca bnh rng rt ln. Cc gim tc bnh rng c kh nng truyn cng sut ti
hng chc nghn KW. Tc vng ca bnh rng trong cc c cu truyn chuyn
ng tc cao c th t ti 150m/s. Trong truyn ng bnh rng thng c bnh
rng ch ng, bnh rng b ng v mt vi bnh rng trung gian. S dng bnh
rng c th truyn c chuyn ng quay gia cc trc song song vi nhau, cho
nhau hoc vung gc vi nhau. i vi truyn ng ai do c im kt cu n
gin, d ch to, gi thnh r nn cng c s dng nhiu trong cc h thng.
Cng sut truyn c th t ti 3000KW, vn tc ca ai c th t v = 100m/s v t
s truyn ng i c th ti 10. Truyn ng ai c u im l chuyn ng m, chu
c ti trng bin i, chn ng. Khi qu ti ai c th trt trn gim nguy him
cho my. Truyn ng xch c s dng t hn do c nhc im c khe h ln v
pht ra ting n ln trong qu trnh lm vic.

Tu theo chc nng s dng m khi truyn ng h bnh rng c cc yu cu
khc nhau. C th nh:
Hnh 2.9 Mt s h truyn ng c khe h
Lun vn thc s


-45-
* Truyn ng chnh xc: Trong xch ng hc ca my ct kim loi v dng
c o truyn ng bnh rng cn c chnh xc ng hc cao. V d nh truyn
ng bnh rng ca xch phn trong my gia cng rng hoc u phn vn
nng
Trong cc truyn ng ny bnh rng thng c truyn ng nh. Chiu di
rng khng ln, lm vic vi ti trng v vn tc nh. Yu cu ch yu ca cc
truyn ng ny l Mc chnh xc ng hc cao c ngha l i hi s phi hp
chnh xc ca truyn ng.
* Truyn ng tc cao: Trong cc hp t c ca ng c my bay, t,
tucbinBnh rng ca truyn ng thng c mdun trung bnh, chiu di rng
ln, vn tc vng ca bnh rng c th t ti 120-150 m/s v hn na. Cng sut
truyn ng ti 40.000KW v hn na. Bnh rng lm vic trong iu kin nh vy
s pht sinh rung ng v n. Yu cu ca nhm truyn ng ny l Mc chnh
xc truyn ng m c ngha l bnh rng truyn ng n nh, khng c s thay
i tc thi v tc , gy va p v n.
* Truyn ng cng sut ln: Truyn ng v i vn tc nh nhng truyn
mmen xon ln. Bnh rng ca truyn ng thng c mun v chiu di rng
ln. V d: truyn ng bnh rng trong my cn thp, nghin lanh ke (xi mng),
trong c cu nng h nh cn trc, ba lng. Yu cu ch yu ca cc truyn ng
ny l Mc tip xc mt rng ln c bit l tip xc theo chiu di rng. Mc
tip xc mt rng phi m bo bn ca rng khi truyn mmen xon ln.
* h mt bn: i vi bt k truyn ng bnh rng no cng cn phi c
h mt bn bn gia cc mt rng pha khng lm vic ca cp bnh rng n
khp. h cn thit to iu kin bi trn mt rng, b sai s co dn n
nhit, do gia cng v lp gip, trnh hin tng kt rng.
Nh vy i vi bt k truyn ng bnh rng no cng phi c 4 yu cu:
mc chnh xc ng hc, mc chnh xc lm vic m, mc chnh xc tip xc v
h mt bn. Nhng tu theo chc nng s dng m ra cc yu cu ch yu i
vi truyn ng bnh rng, tt nhin yu cu ch yu y phi mc chnh xc
cao hn so vi cc yu cu khc.
Bn cnh , trong cc h thng truyn ng trn, gia b phn ch ng v
b phn b ng lun tn ti mt khe h, ni cch khc l c d, tr gia cc
chuyn ng, do lm lm sai lch truyn ng, gim chnh xc i vi cc h
Lun vn thc s


-46-
iu khin v tr, khe h c th lm gim tui th ca cc chi tit c kh, pht ra
ting n, gy rung ng, s n nh v hiu sut ca h thng b thay i.
Vic nghin cu nng cao cht lng cho cc h iu khin truyn ng c
khe h l yu cu quan trng thit lp cc h iu khin chnh xc nhm nng
cao nng sut lao ng v cht lng sn phm. Trc y, hn ch nh hng
ca khe h n cht lng h thng truyn ng ngi ta thng ch quan tm n
cc bin php c hc nh tm cch gim nh khe h , thay i bin dng bnh
rngV d nh c th k n vic thu hp khe h u cnh tuabin bng cch gim
khong d phng dnh cho dn n trong qu trnh my nng ln. Vic ch ng
iu chnh khe h (active clearance control - ACC)
c cng ty MHI (Mitsubishi Heavy Industries,
Ltd.) p dng cho cc tuabin M701G1 v G2 v cng
ty GE p dng cho cc tuabin H System ca h, tt
c u da trn k thut nhit. Tuy nhin mt
phng n c s dng na l gii php c kh, do
Siemens ra trong qu trnh th nghim mt t my
ti nh my Kraftwerke Mainz-Wiesbaden (KMW).
T my ny vn hnh nh mt tuabin kh chu trnh
hn hp (combined cycle gas turbine - CCGT) chun
nhng cng c Siemens s dng cho mc tiu ch to th. Gii php ny mang
tn ti u ha khe h bng thy lc (hydraulic clearance optimization - HCO.
Trong my nm gn y, cc nh khoa hc bt u quan tm n cc gii
php v in trn quan im phi hp iu khin gia b phn ch ng v b phn
b ng trong h thng nhm gim nh hng xu ca khe h i vi h thng.
Trn th gii c nhiu nghin cu v vn ny v t c mt s thnh qu
ng k. Song Vit Nam vn ny cn rt mi m, gn y mi xut hin mt
vi nghin cu v h ni khp mm.
Trong lun vn ny, tc gi xut vic m t v xy dng cu trc ca
khe h v kho st nh lng nh hng ca chng n cht lng ca h
thng. Nhng kt qu a ra c th dng lm c s cho cc nghin cu tip theo
nhm tm ra cc gii php mi v hu hiu gim thiu tc ng xu ca khe h
ln h thng.

Hnh 2.10 Khe h u
cnh tuabin
Lun vn thc s


-47-
2.4.2 Cc m hnh ca h truyn ng c khe h
H thng truyn ng c khe h l mt h c - in t rt phong ph v a
dng, khi xut hin cc khe h th mi mt h thng li c cc hin tng khc
nhau. V vy, tu theo tng h v trng thi hot ng ca my mc, ta cng phi s
dng cc m hnh ton hc khc nhau. Hin nay, m t khe h ngi ta thng
s dng 3 loi m hnh sau [8]:
2.4.2.1 M hnh vt l ca khe h
Xt mt h vt l, gm c mt trc qun tnh t do vi h ca khe h l
2, mt l xo c h s n hi l k
s
v gim chn c
s
(hnh 2.2). Biu thc ca m
men quay c dng:

S s s s s d b s d b
T k . c . k ( ) c ( ) = + = +

(2.1)
b d s
=
(2.2)
Trong :
s
l xon trc,
d
lch gc ca ng c v mp ti,
b
m t
gc ca khe h,
b
. C 3 trng hp khc nhau, ch tip xc vi khe h gc ,
khng tip xc (T = 0) v ch tip xc vi khe h gc -. Khi khng tip xc c
xc nh bi:
s
b d
b d
c
) k(

=

(2.3)
Vi:
s 0
s
k (t t )
c
d b d b
( )e

= (2.4)
Biu thc o hm ca gc khe h l:

s
d d b b
s
s
b d d b b
s
s
d d b b
s
k
max(0, ( )) n
c
k
( ) n
c
k
min(0, ( )) n
c
u
u
u
+ =
= + <
+ =
(2.5)

Hnh 2.11 M hnh vt l ca khe h.
Lun vn thc s


-48-
2.4.2.2 M hnh Deadzone (vng cht):
y l m hnh n gin ho ca m hnh vt l chnh x c, b qua s rung
ng bn trong ca trc, do m hnh ny hp l nu nh khng c hoc c
s rung ng nh ca trc. M hnh Deadzone l m hnh c dng nhiu trong
thc tin. m hnh ny, m men quay ca trc l T
s
:

s s s s s d
T k . k D ( ) = =
(2.6)
Hm s Deadzone D
c nh ngha:

d d
d
d d
n
D 0 n
n
u
u
u
>
+ <
(2.7)
Trong cc trng hp, trc ca m hnh
hon ton khng c rung ng v khng c qun
tnh. Khi ch tip xc khng c khe h, trc
ca ng c c gi s nh trng thi n nh
v c m t trn hnh 3.
Nu s rung ng bn trong trc c b
qua, th m hnh c th thch nghi vi h khe h
c o chiu. Cc thng s ca m hnh Deadzone (k
s1
, k
s2
v
b
) c th dng
nh gi lut thch nghi. M hnh Deadzone gn ng c th s dng b khe h
thc t.
2.4.2.3 M hnh vi hm m t:
Theo cch ny, ngi ta chia h thng phi tuyn thnh 2 phn: Phn tuyn
tnh v phn phi tuyn, phn phi tuyn ging nh khe h c th c m t bi hm
s.
nhn c hm m t trc ht t u vo ca phn t phi tuyn vi sng
hnh sin cng vi hng s B:
) Asin( B
d
+ + = t
(2.8)
Khi u ra ca phn t phi tuyn c ly gn ng bng hng s b N
B
B
u ca hm iu ho N
A
A:
s B A
N B N Asin( ) t = + +
(2.9)
A p q B B
N (A, B, ) N (A, B, ) jN (A, B, ); N N (A, B, ) = + = (2.10)
C 2 thng s c gi l 2 u vo ca hm s, DIDFs. u vo DIDF c
th m t bi:
T
s

k
s1
-k
s2
-
b
/2

b
/2
0

Hnh 2.12 c tnh Deadzone.
Lun vn thc s


-49-

t) t) sin( N sin( N B N ) , ( T
q p B d d s
+ + =
(2.11)
Vi iu kin ca php ton l:
) B, (A, BN T
B 0
=
(2.12)
Vi iu kin duy nht:
) , T (A, B
0
*
(2.13)
Khi T
0
= 0, m t hm s c rt gn v m t ngun hnh sin, SIDF. Trong
nhiu trng hp, khe h c m t vi SIDF, vic m t hm s c biu din
nh sau:
1
j
1
exp
X
Y
) N(X, =
(2.14)
Vi X l bin ca ngun hnh sin; Y
1
l bin ca thnh phn iu ho
c bn; F
1
l gc pha ca thnh phn iu ho c bn.
Vic miu t hm s c th da vo tn s nhng iu cng khng cn
thit. i vi b iu khin phi tuyn, chng c gii hn bi chu k nu u vo
ca h phi tuyn l ngun hnh sin.
2.4.3 S cu trc khe h
i vi cc h c hc tnh phi tuyn ca h ch yu do ma st, nh hng
ca cc khe h, nghn, gi t Khi cn nghin cu chi tit cc qu trnh xy ra
trong h th cn tnh n nhng c tnh phi tuyn y. Dng phi tuyn thng gp
cc h truyn ng c kh l khe h.
Xt h c hc gm 2 trc chuyn ng (hnh 2.13a) trc dn x (trc ch
ng) v trc b dn z (trc b ng). Do c khe h nn mi lin h gia v tr trc
dn x v trc b dn z khng n tr. Mi v tr ca x tng ng vi nhiu v tr ca
z nm trong gii hn k(x - x
a
) z k(x - x
a
) tu thuc vo v tr cc i hay cc
tiu ca z trc . c tnh ca khu khe h c m t nh sau:
a
a
a a
a a
khi x 0 ; v kx
kx
khi x 0 ; v kx
z
khi x 0 ; - kx v kx
0
khi x 0 ; - kx v kx
> =

< =

=

> <
< <
(2.15)
Quan h gia z v x c biu din trn hnh 2.13.b v quan h gia z v
x c biu din trn hnh 2.13.c

Lun vn thc s


-50-

i vi h c kh c ma st kh (hnh 2.13.d) cch m t cng tng t nh
h c khe h Trong trng hp ny mmen M c cn bng bi mmen ca l xo
z ( - h s t l) v mmen ma st kh x
a
m du ca chng tu thuc vo z .
h ny lng vo l mmen quay x = M v lng ra z l gc quay ca trc:
x = M = z x
a
(2.16)
Vi k = 1/; z = k(x x
a
). Khi ta c phng trnh cho h c hc c ma st
kh l:
a
x z - x khi 0
dx
dz
< =
(2.17)
Nu gi ( x ,v) l hm phi tuyn dng bin i tn hiu x v v thnh z
th
khu khe h m t bi (2.15) c s cu trc nh hnh 2.14. Cu trc ny s c
dng kho st nh hng ca khe h n cht lng h thng iu khin t ng
truyn ng in.

z
kx
z
d
dt

( )
x, v

x
Hnh 2.14 S cu trc khe h.

k
-x
a
x
a
x
z
a d
c b
b)
x
z
a)
x = M
z
Ma st kh
d)
Hnh 2.13 S m t c tnh khe h.
-kx
a
<v kx
a

x
-kx
a
v <kx
a

v =kx
a

v =-kx
a

c)
z
Lun vn thc s


-51-
2.4.4 Kho st cht lng ca h thng truyn ng c khe h
nh gi nh hng ca khe h n cht lng ca h thng iu khin
truyn ng in v t c th tm ra nhng gii php khc phc, tc gi tin hnh
kho st mt h truyn ng c khe h c s khi nh hnh 2.15. Trong khi
dn ng l ng c mt chiu kch t c lp c cc thng s cho trong bng 1, ti
l mt khu qun tnh c hm s truyn
K 0,65
w =
Ts+1 0,05s+1
=

Bng 1: Thng s ca ng c
Loi P (KW) n (v/p) U (v) I (A) R () L (H) GD
2
(KGm
2
)
1,5 1500 220 8,7 2,776 0,0961 0,085

Hm truyn ca ng c c dng:
2 2
2
e m m
D
0,0013s 0,0377s 1
0,80166
) 347s 0,0377.0,0 0,0377s 1,2474(1
1

s T T s T 1
k
U(s)
n(s)
G(s)
+ +
=
+ +
=
=
+ +
= =

x
-
z
H khe h
Ti
o lng
Hnh 2.15 S khi h truyn ng c khe h.
ng c
Lun vn thc s


-52-
Thay cc thng s tnh c vo s (hnh 2.16) v dng simulink ta c
s m phng h truyn ng c khe h:

Cc kt qu m phng c ch ra trn cc hnh 7 v hnh 8.a,b. Trong
hnh 7 l c tnh ng ca h thng c v khng c khe h khi s dng b iu
khin t l, hnh 8.a,b l c tnh ng ca h thng khng c v c khe h khi s
dng b iu khin PID.

0 0.5 1 1.5 2 2.5 3
-8
-6
-4
-2
0
2
4
6
Khong co
data2
co khe ho
Hnh 2.17 c tnh ng ca h thng truyn ng
c khe h iu khin theo lut t l.
0 2 4 6 8 10 12 0 2 4 6 8 10 12
Hnh 2.18a,b c tnh ng ca h thng truyn
ng c khe h iu khin theo lut PID.
a) b)

Lun vn thc s


-53-
2.5 KT LUN CHNG 2
T cc kt qu m phng ta thy rng s tn ti khe h lm xu c tnh
ng ca h thng iu khin t ng truyn ng c in, khi khe h cng ln, h
thng cng dao ng mnh. Cc phng php iu khin kinh in khng th trit
tiu nh hng ca khe h ti cht lng ca h thng m cn phi tm ra cc bin
php mi trn c s ca l thuyt iu khin hin i.

Lun vn thc s

-54-
CHNG III
THIT K B IU KHIN M & M THCH NGHI CHO H
TRUYN NG C KHE H
3.1 CC PHNG PHP TNG HP B IU KHIN M THCH NGHI
3.1.1 KHI NIM
3.1.1.1 nh ngha
H iu khin thch nghi m l h iu khin thch nghi c xy dng
trn c s ca h m.
So vi h iu khin kinh in h iu khin thch nghi m c min tham
s chnh nh ln. Bn cnh cc tham s K, T
I
, T
D
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 tr thnh mt h iu khin thng minh.
3.1.1.2 Phn loi
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 1 vi lut iu khin c chnh nh trc hoc cha cc lut.
3.1.1.3 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:

Lun vn thc s

-55-

- Phng php trc tip thc hin thng qua vic nhn dng thng xuyn
cc tham s ca i tng trong kn. Qu trnh nhn dng 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 bit trc hoc
m hnh m.

- Phng php gin tip 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 v.v... B iu khin thch nghi m c th chia thnh 2 loi:
* B iu khin m t chnh cu trc
l b iu khin m c kh nng t chnh nh cc lut iu khin.
thay i lut iu khin trc ti n ta phi xc nh c quan h gia gi tr c
hiu chnh u ra vi gi tr bin i u vo. Do cn phi c m hnh th
C cu
thch nghi
Nhn dng
i tng
B iu khin
Hnh 3.1 Cu trc phng php iu khin thch nghi trc tip.

Phim hm
mc tiu
Chnh nh
i tng B iu khin
Hnh 3.2 Cu trc phng php iu khin thch nghi gin tip.

Lun vn thc s

-56-
ca i tng, m hnh ny dng tnh ton gi tr u vo tng ng vi 1 gi tr
u ra cn t c ca b iu khin ta c th xc nh v hiu chnh cc nguyn
tc iu khin m bo cht lng h thng.
* B iu khin m t chnh c m hnh theo di
Mt h t chnh khng nhng chnh nh trc tip tham s ca b iu
khin m cn chnh nh c tham s ca m hnh i tng c gi l b t chnh
c m hnh theo di. Vi b iu khin ny h m khng ch phc v cho vic iu
khin i tng m cn phc v cho vic nhn dng i tng.
S cu trc ca h t chnh c m hnh theo di nh hnh 3.3.

B iu khin thch nghi c m hnh theo di 3 thnh phn:
- M hnh m ca i tng c xc nh trong khi h thng ang lm
vic bng cch o v phn tch cc tn hiu vo/ra ca i tng. M hnh m ca
i tng gin tip xc nh cc lut hp thnh ca b iu khin. V vy b iu
m t chnh c m hnh theo di cng chnh l b iu khin m t chnh cu trc.
- Khi phim hm mc tiu: Cc ch tiu cht lng ca h thng c
phn nh qua phim hm mc tiu bng cc hm lin thuc.
- Khi to tn hiu iu khin c nhim v la chn tn hiu iu khin t
tp cc tn hiu iu khin xc nh t m hnh i tng v m bo tt nht ch
tiu cht lng ra.

Phim hm
mc tiu
i tng
M hnh
i tng

Nhn dng
To tn hiu
iu khin
Hnh 3.3 iu khin thch nghi c m hnh theo di.

Lun vn thc s

-57-
3.1.2 TNG HP B IU KHIN M THCH NGHI N NH
3.1.2.1 C s l thuyt
Xt 1 h phi tuyn SISO c m t bi phng trnh:

( ) ( )
( )
n n 1 '
y f y, y , ...y bu
= +
; y = x l bin trng thi. (3.1)

( )
( )
n
y f y bu = +

Trong u l u vo, y l u ra, hm phi tuyn f(.) v hng s b c gi
thit cha bit,
' (n 1) T
y [y, y , ...y ]
=
. 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 y
d
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, b iu khin c tn hiu u ra l:

n
T d
n
d y 1
u(t) f(y) K E
b dt
(
= + +
(

(3.2)
Trong :
1
2 T
n 1
n
n 1
e
k
de
k
dt
K , E
k d e
dt
(
(

(
(

(
(
= =

(
(

(
(

(
(

Cc h s k
1
, k
2
,...k
n
c chn sao cho tt c cc nghim ca phng trnh:
n n 1
n 1
p k p ... k 0
+ + + = nm na tri mt phng phc. Tc l cc nghim p

k
c
phn thc m:
Re(p
k
)< 0 (3.3)
Thay (3.2) vo (3.1) ta c:

n n 1
n 1
n n 1
d e d e
k k e 0
dt dt
+ + + =
(3.4)
Do c iu kin (3.3) nn nghim ca e(t) chc chn tho mn iu kin:

t
lime(t) 0
=
(3.5)
Lun vn thc s

-58-
Ta thy rng bi ton tng hp trn ch c ngha khi d bit chnh xc m
hnh ton hc ca h thng, hay ni cch khc l trong (3.1) 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 vect 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)
, (t) v
u(x, ). Tc l:
x
x(t) M < , (t) M
< ,
u
u(x, ) M <
vi mi t 0 .
Trong M
x
, M
u
, M
l cc tham s do ngi thit k t ra.

- sai lch e = y
d
y cng nh cng tt.
Khi f(.) v b bit th ta d dng tng hp c b iu khin:

( )
n
* T d
n
d y 1
u f y K e
b dt
(
= + +
(

(3.6)
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 tng hp 2 b iu khin b iu khin m
f
u (x, ) v b iu khin gim st
s
u (x) :
u = u
f
+ u
s
(3.7)
Trong
f
u (x, ) l b iu khin m c cp trong tng kt 3.1.
Tng kt 2.1: Mt h logic m c n u vo
x
v 1 u ra
T n
1 2 n
y (x (x , x ...x ) R v y R) =
. nh ngha i
j
tp m
j
ij A
vi cc hm lin
thuc
j
j
A
bao ph min xc nh ca cc bin ngn ng u vo (j = 1,..., n l s

u vo).
Lut
1 n
i ...i
u
R

1 n
1 2 n
1 i1 2 i2 n in i ....i
if e A and e A and...and e A then u=B = = =
(3.8)
Lun vn thc s

-59-
Trong i
1
= 1, 2...., N
1
; .... i
n
= 1,2,....N
n
l cc hm lin thuc cho mi
bin u vo,
1.... n
i i
B
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:

( )
( )
1 n
j
1 n
1 n
i
j
1 n
j
1 n
i
j
n N N
i ...i j
i 1 i 1 j 1
n N N
j
i 1 i 1 j 1
.... y x
u u(x, )
.... x
A
A
= = =
= = =
(
(
(

= =
(
(
(

(3.9)

T
u (x) = (3.10)
Trong (x) l vect hm c s.

( )
( )
j
i
j
1 n
j
1 n
i
j
n
j
j 1
n N N
j
i 1 i 1 j 1
x
(x)
.... x
A
A
=
= = =
=
(
(
(

(3.11)
Thay (3.10) vo (3.1) ta c:

(n)
f s
y f(y) b[u (x, ) u (x)] = + +
(3.12)
T (3.6) ta rt ra:
n
* T d
n
d y
f(y) bu K e
dt
= + +
thay vo (3.12):

(n) * (n) T
m f s
y bu y K e b[u (x, ) u (x)] = + + + +
sau khi bin i ta c:

(n) T *
c s
e K e b[u -u (x, ) u (x)] = +
(3.13)
Hoc vit di dng phng trnh trng thi:

*
f s
e Ae B[u -u (x, ) u (x)] = +
(3.14)
Trong :
Lun vn thc s

-60-

n n-1 n-2 1
0 1 0 0 ... 0 0
0 0 1 0 ... 0 0
A B
...
-k -k -k ... -k b
( (
( (
( (
= =
( (
( (

(3.15)
Chn hm Lyapunov
T
1
V e Pe
2
=
. Trong P l ma trn dng i xng
c xc nh t phng trnh Lyapunov:
A
T
P + PA = - Q (Q>0) (3.16)
o hm V ta c:

T T
1 1
V e Pe e Pe
2 2
= +

(3.17)
Thay (3.14) , (3.16) vo (3.17) ta c:

T T
*
c s
T T T
*
f s
1
V e Qe e PB[u u (x, ) u (x)]
2
1
e Qe e PB u u e PBu
2
= +
+ +
(3.18)
Ta cn phi tm hm
s
u sao cho V 0

Gi thit ta xc nh c hm
u
f (x) v hng s b
L
tho mn iu kin:
u
L
f(x) f (x) v 0<b b
th hm iu khin gim st u
s
(x) c xy dng nh sau:

(n)
T
* U T
s 1 f
d
L
1
u (x) I sgn(e PB u f K e
b
y
(
| |
= + + +
( |
\ .
(

(3.19)
Trong :
*
1
1 khi V>V
I
0 khi V V
( Vl hng s c chn bi ngi thit

k).
V b>0,
T
sign(e PB) c th xc nh, hn na tt c cc thnh phn trong
(3.19) c th xc nh c, v vy b iu khin gim st u
s
l hon ton xc nh.
Thay (3.19) v (3.6) vo (3.18) v xt cho trng hp
*
1
I 1 = ta c:
Lun vn thc s

-61-

( ) ( )
T T (n) T U (n) T
m c c m
L
T
1 1 1
V e Qe e PB f y K e u u f y K e
2 b b
1
e Q 0
2
+ + + + + +

(3.20)
Vy s dng u
s
theo (3.19) ta lun nhn c V V .
T (3.19) ta nhn thy rng u
s
ch xut hin khi khng tho mn iu kin:
V V. Do vy trong h thng trong khong sai s nh (ngha l V V ) th ch c
b iu khin m u
f
lm vic cn b iu khin gim st khng lm vic (u
s
= 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
*
1
I 1
th t (3.20) ta cn phi m bo khng ch gii hn ca
vect trng thi m cn phi m bo cho e hi t v 0. Ta khng ch chn phng
n ny v u
s
thng rt ln.
Tht vy, t (3.20) ta thy u
s
t l vi gii hn ca f
U
m gii hn ny
thng rt ln. Tn hiu iu khin ln c th gy phin phc do vy c th lm
tng thm chi ph ph. Bi vy ta chn u
s
lm vic theo kiu gim st.
tm lut iu khin thch nghi vect tham s ta thay
T
f
u (x, ) (x) = .
t
*
l vect tham s ti u:

x
*
*
c M x M
argmin sup u (x, ) u

(
=

v t
* *
f
w u (x, ) u =
biu thc (3.14) c th vit :

*
f s
*
f f s
T
s
e Ae B[u u (x, ) u (x)]
= Ae b[u (x, ) u (x, ) Bu (x) Bw]
= Ae B (x) Bu (x) Bw
= +
+
+
(3.21)
Trong
*
; (x) =
l hm c s.
Chn hm Lyapunov dng:
Lun vn thc s

-62-

T
T
1 b
V e Pe
2 2
= +
(3.22)
Vi
l mt hng s dng. S dng (3.21) v (3.16) ta c:

T T
T T
s
1 b
V e Qe e PB[ (x) u w]+
2
= +

(3.23)
Gi P
n
l ct cui cng ca ma trn, t (3.15) ta c:

T T
n
e PB e P B =
(3.24)
Thay (3.24) vo (3.23) ta c:

T T T T
T
n s
1 b
V e Qe [ e P (x) ] e PBu e PBw
2
= + +

(3.25)
Chn lut thch nghi:

T
n
e P (x) =
(3.26)
th (3.25) tr thnh:

T T
1
V e Qe e PBw
2

(3.27)
Trong :
T
s
e PBu 0 v =

y l iu tt nht ta c th t c.
3.1.2.2 Thut ton tng hp b iu khin m thch nghi
tng hp 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 vect tham s.
a. Chn cu trc ca b iu khin m
Cu trc ca b iu khin m thch nghi nh hnh 3.3. Trong i tng
u khin l 1 h phi tuyn bt k c m t tng qut bng biu thc (3.1). 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 (y
d
) cho d c
s thay i thng s v cu trc ca i tng.

Lun vn thc s

-63-

b. Cc bc thc hin thut ton
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.
t ( )
( )
T
T
(n 1) (n 1)
1 2 n d d d
E e , e , ...., e y y , y y ... y y

= =

nh ngha min xc nh ca cc thnh phn e
j
l:

j j
min max
,
(

(j= 1, 2,...., n l s u vo)
Ch rng gi tr thc ca e
j
c th bn ngoi khong
j j
min max
,
(

, hm
lin thuc ca cc tp m c th chn l hnh tam gic, hnh thang, hm Gaus, hm
sigmoiv.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 3.5 l v d v
hm lin thuc kiu Gaussmf gia v trimf 2 bn i vi 1 bin ngn ng u
vo.

j
j j
1
1 j 1
j j
j j 1 1
A
(e )
1
(e ) (e ; ; ) 1
1 e
+
= =
+
(3.28)

j j 2
p j p
j
p
(e )
j j
j j p p
A
(e ) (e ; ; ) e

= =
(3.29)
u
y
d
H phi tuyn
(n) ' (n 1)
y f(y, y ..., y bu
= +

Lut thch nghi
' T
n
e p (e) =

d
dt

B iu khin m
T
u u(e, ) (e) = =

y

e

Hnh 3.4 S cu trc b iu khin m thch nghi.
Lun vn thc s

-64-
Vi p = 2, 3...,N
j -1
,cn:

j
j j
j j
N
j N N
j j
j j
j j N N
A
(e )
1
(e ) (e ; ; )
1 e

= =
+
(3.30)
Trong :
j j j j j j
min 1 2 N 1 N max
= < < < < =

- Bc 2: Xy dng b iu khin m u t tch N
1
...N
n
lut sau y:
Lut
1 n
i i
Ru

1 2 n 1 n
1 2 n
1 i 2 i n i i ...i
if e A and e A and...and e A then u = B = = =
(3.31)
Trong i
1
= 1, 2,..., N
1
; ... i
n
=1, 2,..., N
n
l hm lin thuc cho mi bin
u vo.

1 n
i i
B

l tp m u ra s c xc nh.
Vic thit k b iu khin m by gi chuyn sang vic xc nh cc
thng s
1 n
i i
B

.
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:

( )
( )
1 n
j
1 n
1 n
i
j
1 n
j
1 n
i
j
n N N
i i j
i 1 i 1 j 1
n N N
j
i 1 i 1 j 1
.... y ... e
u u(e, )
.... e
A
A
= = =
= = =
(
(
(

= =
(
(
(

(3.32)

T
u (e) =
(3.33)
Trong :
(e)
l tp hp hm m c s bit.

Hnh 3.5 Hm lin thuc vi 7 tp m.
Lun vn thc s

-65-

( )
j
i
j
1 n
j
1 n
i
j
n
j 1
n N N
j
i 1 i 1 j 1
(e)
.... e
A
A
=
= = =
(
(
(

=
(
(
(

(3.34)
Lu thut ton tng hp hm m c s (e) nh hnh 3.6

1 n
i i
y

l im trng tm ca
1 n
i i
B

, chng s c chnh nh theo lut
thch nghi cho ph hp vi i tng.

l mt vect gm tp hp cc
1 n
i i
y

vi i
1
= 1, 2,..., N
1
;....i
n
=1, 2,...., N
n

t
l 1 n
l 1 l 2 2 1 N 1 N N
y , y , y , y , y
(
=

(3.25)
Cc thng s c chnh nh nh s dng lut thch nghi sau:

T
n
e P (e) =
(3.26)
1
2
A

1 2
1 1
A A

/
/
/
/
/
/

(e)
/
/
/
1 2
1 2
A A

1 2
1 n
A A

1 2
2 1
A A

e

1
1
A

1
3
A

2
1
A

2
2
A

2
3
A

Hnh 3.6 Lu thut ton tng hp hm m c s (e).
Lun vn thc s

-66-
trong

l hng s dng xc nh tc ca thut ton cn p
n
l ct
cui cng ca ma trn P, vi P l nghim ca phng trnh Lyapunov.
A
T
P+ PA = - Q (3.37)
Trong Q l ma trn dng xc nh tu , A l ma trn (n x n)

n n-1 n-2 2
0 1 0 0 ... 0
0 0 1 0 ... 0
A
-k -k -k ... -k
(
(
(
=
(
(

(3.38)
Vi cc hng s k
1
, k
2
... c chn sao cho tt c cc nghim ca phng
trnh: P
n
+ k
n
P
n-1
+ ....+ k
1
= 0 nm bn na tri mt phng phc. Vi cch tng hp
nh vy, h thng chc chn tho mn iu khin
t
lime(t) 0
=
.
T cc tp m u vo (3.28) .....(3.30) v cc thng s
.
. P
n
c xc
nh trn ta tin hnh xy dng b iu khin m theo trnh t sau:
- nh ngha cc hm lin thuc (3.8) ... (3.30).
- Xy dng hm m c s (3.24).
Xc nh lut thch nghi
T
n
e P (e) =

- Xy dng b iu khin (3.32).
Nhn xt:
H s

trong (3.36) ni ln tc hi t ca thut ton thch nghi. N c
chn v sau c kim nghim thng qua m phng, nu chn

qu nh thut
ton thch nghi hi t chm,

chn ln, qu trnh hi t nhanh nhng nu

chn
qu ln h thng s mt n nh.
Cc gi tr P
1
,P
2
c xc nh t phng trnh Lyapunov (3.37). 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.

Lun vn thc s

-67-
3.1.3 TNG HP B IU KHIN M THCH NGHI TRN C S L
THUYT THCH NGHI KINH IN
3.1.3.1 t vn
Mt cu trc thng dng nht ca h logic m (FLC - FuzzyLogic Control)
l cu trc iu khin phn hi sai lch - S nh hnh 3.7.
Trong k
I
, l cc h s khuch i u vo, K l h s khuch i u
ra. Thc tin cho thy vic iu chnh 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 cc thng s ny.

Hin nay trong cng nghip cc b iu khin logic m 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 - mang nhiu tnh cht m mn. Do khng ph hp vi vic chun ho
cht lng v kh tr thnh mt phng php lun c h thng.
Trong phn ny ta s tip cn kiu thit k hn hp theo hng kt hp c 2
cchtip 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, 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 hm
hnh tam gic, hnh thang hoc hm Gauss. Sau khi xc nh c hm lin thuc
v lut hp thnh c bn, ta phi 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 h s khuch
i t l ng rt quan trng i vi s hot ng ca FLC.
e
R
u U
r

K

Lut hp
thnh

k
i
Hnh 3.7 Cu trc c bn ca h iu khin m 2 u vo.

Lun vn thc s

-68-
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 l i
vi h phi tuyn. Mt b iu khin m vi lut hp thnh tuyn tnh v cc hm
lin 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 h
iu khin m, thch nghi vi mt vi s xp x no .
Cu trc ca cc b iu khin m thch nghi da trn c s l thuyt
Lyapunov v phng php Gradient kinh in.
3.1.3.2 M hnh ton hc ca b iu khin m
Xt b iu khin m hai u vo nh hnh 3.7. xy dng m hnh ton
hc ca n ta thc hin 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 thuc s b chn hnh tam gic vi
mi hm lin thuc bao ph khng gian trng thi 2A u vo v 2B cho mi u
ra. Gi s chn hm j lin thuc m cho E, R, U, chn j hm lin thuc dng cho
E, R, U, v mt hm lin thuc zezo cho E, R, U (hnh 3.8) . 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 m nhiu, dng nhiu v.v... ta s dng cc ch s l s, v d
1 2 0 1
(x), (x), (x), (x)....

Ta thy rng mc d s dng cc hm lin thuc ging nhau m t 2 tp
m u vo nhng thng qua cc h s k
I
v (hnh ) chng thc s l cc hm lin
thuc khc nhau.
x
0,5
1
j
(x)

j
(x)
0
(x)
A 0 -A
Hnh 3.8 nh ngha hm thuc cho cc bin vo - ra.

Lun vn thc s

-69-
b. Chn lut iu khin
Vi cc b iu khin m hai u vo, mi u vo c N tp m s c N
2

lut iu khin m t tt c cc kh nng kt hp ca E
i
v R
j
. Dng tng qut ca
lut hp thnh l:
Nu E = E
i
v R = R
i
th U = u
k
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 mt hm tuyn tnh i vi i v j, v d f = i + j; f = i + j + 1
v.v
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 cc chuyn gia.
Vic chn cc lut iu khin phi to iu kin thun li cho ngi thit k h iu
khin m.
-3 -2 -1 0 1 2 3
3 0 1 2 3 3 3 3
2 -1 0 1 2 3 3 3
1 -2 -1 0 1 2 3 3
0 -3 -2 -1 0 1 2 3
-1 -3 -3 -2 -1 0 1 2
-2 -3 -3 -3 -2 -1 0 1
-3 -3 -3 -3 -3 -2 -1 0

Hnh 3.9 th hin cc lut iu khin tuyn tnh vi f = i+j cho b iu khin
m hai u vo v mt u ra vi 7 hm lin thuc cho mi bin vo v bin ra.
Bng 3.1 v Hnh 3.10 l quan h vo ra ca lut hp thnh tuyn tnh.
i+j -3 -2 -1 0 1 2 3
U
k-1
-3 -2 -1 0 1 2 3

E
R
Hnh 3.9 Lut hp thnh tuyn tnh.
Lun vn thc s

-70-
nh ngha 2: B iu khin m c s (Basis Fuzzy Control - BFC) l b iu
khin m c hai u vo v mt 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 hnh thnh suy lun
Cc lut c s chia vng lm vic ca b
iu khin m c bn thnh nhiu vung, vi
u ra ca lut nh hnh .... V tt c cc thao tc
m u c th c tnh ton trn cc ny nn
chng c gi l cc suy lun.
Mt cch tng qut ta c th chn suy
lun IC (i,j) phn tch. ny c to bi cc
hm lin thuc
i i 1 i i 1
(E), , (R) v (R)
+ +
, cc ng cho ca chia chng thnh 4
vng (IC1.... IC4) (hnh 3.11).
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:
E = iA+ e* (i = ....., -1, 0, 1,...) (3.39)
R= jA + e* (j = ....., -1, 0, 1,...) (3.40)
Tt c cc thao tc m bao gm M ho, Suy din m v Gii m u
c th c thc hin trong suy lun IC.

-3
V

3
Ra
Hnh 3.10 Quan h vo ra ca
lut hp thnh tuyn tnh.
Lun vn thc s

-71-

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 biu thc (3.39) v (3.40) 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 i 1
v
+

, cc gi tr hm lin thuc ca r* l
j j 1
v
+

.
V lun tn ti quan h
i i 1
1
+
+ =
v
j j 1
1
+
+ =
do gi tr cc hm
lin thuc u vo trong suy lun l:
j 1

j

j+1

B

u

E

(i,j-1)

IC(i,j)

(i-1,j)

u
k-2
u
k
u
k+1
u
k
u
k-1
u
k
u
k+1
u
k+2
E
i
E
i+1
R
j
R
j-1
R
j+1
i 1 +

i

i 1

E
i-1
suy lun
u
k-1
(i-1, j-1)

R

B

k+1

k

k-1

u
k-1
u
k
u
k+1
Hnh 3.11 S hnh thnh suy lun t lut hp thnh.

Lun vn thc s

-72-

* *
i i 1
* *
j j 1
e e
1 ;
A A
r r
1 ;
A A
+
+
= =
= =
(3.41)

1
3
IC1
i

j

j+1

IC2
j

j

i+1

IC3
j

j+1

i+1

IC4
i

i+1

j+1

* Suy din m:
T lut hp thnh c s: Nu E = Ei v R = R
j
th U = u
k

Vi k = f(i, j) = i + j (3.42)
Hm lin thuc ca cc tp m u ra c biu din trong hnh 3.11 vi gi
tr u ra l:
u
k
= k.B (3.43)
Ti mi vng ca suy lun ta thu c cc gi tr
1 2 3
, , (bng 3.2)
thng qua php ly Max-Min vi:

1 i j k
21 i j 1 k+1
22 i 1 j k+1
3 i 1 j 1 k+2
2 21 22
min( , ) cho u ra u
min( , ) cho u ra u
min( , ) cho u ra u
min( , ) cho u ra u
max( , )
+
+
+ +
=
=
=
=
=
(3.44)
* Gii m:
Dng phng php im trng t m v khai trin Max -Min ta c tn hiu
ra:
Bng 3.2 Kt qu ca php ly
Max-Min trong suy lun.
i, j
1 k
, U
r
*
e
*
e
*
,r
*
j 1 +

i 1 +

A

IC
3
IC
4
IC
1
IC
2
j

i

i+1, j
22 k 1
, U
+

i+1, j+1
3 k 2
, U
+

0

Hnh 3.12 Cc vng trong suy lun.

k = i+j

Lun vn thc s

-73-

3
k k l 1
l 1
3
k
k 1
u
u
+
=
=
(3.45)
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 m t IC1 - IC4, l kt qu ca php
ly Max-Min.
+ Xt vng IC1:
T (3.41) v bng 3.2 ta c:
*
3
1
1 i j j 1 i 1 1
l 1
e
2
A

+ +
=
= + + = = =
(3.46)
T bng (3.2), (3.41) v (3.45) ta c:

3
1 k 1 1 i k 1 j k j 1 k 1
l 1
* * *
* * *
* *
3
1
1 k 1 2 1
l 1
u u u u
e r r
(1 )(k 1)B (1 )kB
A A A(k 1)B
B[(k-1)A+e r ] e
= kB(1 )
A A
Vi S=E+R =(k-1)A+e r ta c:
B
u S kB( 1)
A
+ + +
=
+
=
= + +
= + +
+
+
+
+
= +

T ta rt ra:

3
1
1 k l 2
1
l 1
1
3 1
1
1
l 1
1 1 1
1 1
B
u
S kB( 1)
A
u
B
u S kB(1 )
A
B
u kB (S kA)
A
+
=
+
= =
= +
= +

Tng t vi cc suy lun khc, cui cng ta thu c:
Lun vn thc s

-74-

1 1 1
B
u S kB(1 ) (l=1,2,3,4)
A
= +
(3.47)
Hoc:
1 1
B
u (S kA) kB
A
= +
(3.48)

*
1 1
1 i
*
1 1
2 j
*
1 1
3 i 1
*
1 1
4 j 1
e
(1 ) (2 )
A
e
(1 ) (2 )
A
e
(1 ) (1 )
A
e
(1 ) (1 )
A

+

+
= + =
= + =
= + = +
= + = +
(3.49)
* *
1
S E R K ( e r) (k 1)A e r = + = + = + +

k = i + j
l
(l=1,2,3,4) l tham s phi tuyn trong vng IC
1

Ta thy iu khin m vi lut hp thnh tuyn tnh thc s l iu khin phi
tuyn nh biu thc (3.48). N s tr thnh iu khin tuyn tnh trng thi cn
bng. Trong biu thc (3.48) ta cn phi xc nh cc h s khuch i t l u vo
k
I
, v u ra K. Gi tr danh nh ca cc h s khuch i u vo k
I
v c th
xc nh theo phng php ca H.X.Li. Thng thng vic xc nh h s khuch
i u ra K ng l rt kh khn.
3.1.4 XY DNG C CU THCH NGHI THEO M HNH MU CHO B
IU KHIN M
3.1.4.1 H iu khin thch nghi theo m hnh mu (MRAS) dng l thuyt
thch nghi kinh in
Xt mt i tng kinh in c m t bi phng trnh:

dy
ay bu
dt
= + (3.50)
M hnh mu c phng trnh:

m
m m m c
dy
a y b u
dt
= + (3.51)
Lun vn thc s

-75-
Tn hiu iu khin:
1 c 2
u u y = vi sai s
m
y y = .
Biu thc cha tham s iu chnh. Ta cn tm ra c cu thch nghi iu
chnh cc tham s
1
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 hoc dng
phng php Gradient sau:
* Lut thch nghi theo Lyapunov:
Gi thit b > 0 v chn hm Lyapunov c dng:
( ) ( )
2 2
2
1 2 2 m 1 m
1 1 1
V( , , ) b a a b b
2 b b
(
= + + +
(

th theo lut iu chnh cc tham s
1
,
2
cho 0 l:

1 2
c
d d
u ; y
dt dt

= =
(3.52)
Nu ch c mt tham s bin thin, lut iu chnh thch nghi tham s tr
thnh:

1
c
d
u
dt
=
(3.53)
* Lut thch nghi theo Gradient:
Gi thit l mt vect tham s cn c xc nh v ph thuc gia sai
lch u ra ca i tng (y) v u ra ca m hnh (y
m
). Tiu chun sai lch p
nh ca h c chn:
2
1
J( ) 0
2
=
(3.54)
th quy lut iu chnh theo hng Gradient ca J l:

d J y
dt

= = =

(3.55)
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 mu v i tng cng nh tnh
phi tuyn ca n ch nm trong gii hn no , nu qu gii hn ny b iu chnh
Lun vn thc s

-76-
s khng lm vic hiu qu na. khc phc nhc im , ta s dng h iu
khin m thch nghi theo m hnh mu.
3.1.4.2 iu chnh thch nghi h s khuch
i u ra b iu khin m.
Tn hiu u ra ca b iu khin m
(3.47) c vit:
1 1 1
B
U S kB(l )
A
= +

Vi thng s phi tuyn.
Thay S = E + R = K
1
(+I)e vi I dt =
ta c:

1 1 I 1
B
U K ( I)e kB(l ) F.e T
A
= + + = +

Trong :
1 1 I
1
B B
F S K ( I)
A A
T kB(1 )
= = +
=

B iu khin m 2 u vo trong biu thc (3.47) vi h s khuch i u
ra K, c th c biu din nh l F.e cng thm mt gii hn tr T nh biu thc
(3.56) (hnh 3.13) gii hn tr T s tin ti 0 khi h thng tin n im cn bng.
U = K(T + Fe) (3.56)
Ta 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 phn hi u ra v s iu khin thch nghi m theo m
hnh hiu chnh trc (FMRAFC- Feedforward Model Reference Adaptive Fuzzy
Controller).
3.1.4.3 S iu khin thch nghi m theo m hnh mu (MRAFC)
Xt cu trc iu khin m theo m hnh mu c biu din trn hnh 3.14.
U e
F
T
K
Hnh 3.13 B iu khin m vi h s
khuch i u ra K.

Lun vn thc s

-77-
Trong : i tng iu khin c hm truyn G, m hnh mu c hm
truyn G
m
, 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 iu chnh h s K sao cho sai lch gia m
hnh v i tng tin n 0 (0).

Xp x
1
trong (3.48) 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:

c
KFG
y U
1 KFG
=
+
(3.57)
V
m
(s) Y KFC e e
. G
K K 1 KFG K K

= = =
+
(3.58)
Gi thit y tin n y
m
th ta c th xp x
m
KFG
G
1 KFG

+
. Khi quy lut
iu chnh thch nghi cho h s khuch i u ra ca FLC c th xc nh t
(3.55):
m
dK e
G
dt K
=
(3.59)
xt n nh ca s trn, ta chn hm Lyapunov:
V = 1/2
2
2
m
e
V ( K ) ( G )
K t K t

= + = +

y

y

y
m
U
c
e
-
-

U
T
M hnh mu G
m
C cu
thch nghi
K
FLC
K X
i tng
G
+

Hnh 3.14 MRAFC iu chnh h s khuch i u ra.
Lun vn thc s

-78-
H thng n nh khi
0.
t
<

3.1.4.4 S iu khin thch nghi m kiu truyn thng (FMRAFC)
Cu trc ca b iu khin thch nghi m c biu din trn hnh 3.15. S
ny c gi l s thch nghi m truyn thng (Feedforward Model
Reference Adaptive Fuzzy Controller - FMRAFC).

Trong s ny sai lch gia tn hiu t v tn hiu u ra ca i tng
c thay th bng gi tr sai lch gia i tng v m hnh: .
H s khuch i thch nghi u ra:
m
KFC
y y
1 KFG
=
+
(3.60)

m
2
y (s) y KFC KFG
.
K K K 1 KGF K K (1 KFG)

= = =
+ +
(3.61)
Trong :
m
y
1 KFG
=
+
v gi thit rng y tin n y
m
th
KFC
1
1 KFC

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

2
dK
(theo gradient)
dt k
=
(3.62)

m c
dK
y u (theo Lyapunov)
dt
=
(3.63)
Ta thy hm truyn ca m hnh khng c mt lut thch nghi (3.62) v
(3.63) nn cu trc thch nghi ny chu ng tt i v i gii hn ln sai lch
gia m hnh v i tng. Trong thc t n ch cn mt m hnh xp x gn ng
U
c
-
y
y
m
u
C cu
thch nghi
i tng
G
T
FLC
K

F
+
M hnh
mu G
m
Hnh 3.15 Cu trc h FMRAFC.
Lun vn thc s

-79-
v d m hnh mu bc nht:
m
m
m
b
G
a S
=
+
cng c th p dng cho phn ln cc i
tng iu khin.

Lun vn thc s

-80-
3.2 NG DNG CHO H TRUYN NG C KHE H.
T cc kt qu m phng ca chng 2, ta thy rng s tn ti khe h lm
xu c tnh ng ca h thng iu khin t ng truyn ng c in. Khi khe h
cng ln, h thng cng dao ng mnh. Cc phng php iu khin kinh in
khng th trit tiu nh hng ca khe h ti cht lng ca h thng. loi b
c khe h cho cc h truyn ng, trong bn lun vn ny tc gi xut vic s
dng b iu khin m v b iu khin m thch nghi.
3.2.1 THIT K B IU KHIN M
3.2.1.1 S khi m.
B iu khin m ta s thit k bao gm hai bin trng thi m u vo v
mt bin m u ra. Mi bin ny li c chia thnh nhiu gi tr tp m (Tp m
con). S gi tr m trn mi bin c chn ph ht cc kh nng cn thit sao
cho kh nng iu khin l ln nht trong khi ch cn mt s ti thiu cc lut iu
khin m.

3.2.1.2 nh ngha tp m
* nh ngha cc bin ngn ng vo ra
Bin ngn ng vo l tn hiu iu khin ca b iu khin m c th l
lng sai lch in p iu khin ET v TE l tch phn ca sai lch.
Bin ngn ng ra l i lng tc ng trc tip hay gin tip ln i tng
y bin ngn ng ra l in p iu khin U.
* Xc nh min gi tr vt l ca cc bin ngn ng vo ra
Min gi tr vt l phi bao hm ht cc kh nng gi tr m bin ngn ng
vo ra c th nhn, ta chn:
E = [-1; 1] (V)

Hnh 3.16 S khi m.
Lun vn thc s

-81-
TE = [-2; 2 ] (V/s)
U = [-78; 78] (V)
* S lng tp m
S lng tp m thng i din cho s trng thi ca bin ngn ng vo ra,
thng nm trong khong 3 n 10 gi tr. Nu s lng gi tr t hn 3 th khng
thc hin c v vic ly vi phn, nu nhiu hn th con ngi kh c kh nng
bao qut, v con ngi phi nghin cu y ng thi phn bit khong 5 n
9 phng n khc nhau v c kh nng lu tr trong thi gian ngn. i vi i
tng ny ta chn cc gi tr nh sau:
E = {AL, AV, AN, K, DN, DV, DL}
TE = {AL, AV, AN, K, DN, DV, DL}
U = {AL, AV, AN, K, DN, DV, DL}
Trong :
AL: m ln
AV: m va
AN: m nh
K: Khng
DN: Dng nh
DV:Dng va
DL: Dng ln
* Xc nh dng hm lin thuc
y l giai on rt quan trng, v cc qu trnh lm vic ca b iu khin
m ph thuc rt nhiu vo dng ca hm lin thuc. Mc d khng c mt chun
mc no cho vic la chn nhng thng thng c th chn hm lin thuc c dng
hnh hc n gin nh hnh thang, hnh tam gic... Cc hm lin thuc phi c min
ph ln nhau ng thi hp ca cc min lin thuc phi ph kn min gi tr vt l
trong qu trnh iu khin khng xut hin cc l trng. Ta chn cc hm lin
thuc hnh tam gic.
* Ri rc ha tp m
Lun vn thc s

-82-
phn gii ca cc di tr ph thuc c chn trc hoc l cho cc nhm
iu khin m loi du phy ng (cc s dj biu din di dng du phy ng c
chnh xc n) hoc nguyn ngn (gi tr ph thuc l cc s nguyn c ph
thuc l cc s c di 2 byte hoc theo byte). Phng php ri rc ha s l yu
t quyt nh chnh xc v tc b iu khin.
3.2.1.3 Xy dng cc lut iu khin NuTh
Vi 7 tp m ca mi bin u vo, ta xy dng c 7x7 = 49 lut iu
khin. Cc lut iu khin c biu din di dng mnh IF... THEN... 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.
1. If (input1 is AL) and (input2 is AL) then (output1 is AL) (1)
2. If (input1 is AV) and (input2 is AL) then (output1 is AL) (1)
3. If (input1 is AN) and (input2 is AL) then (output1 is AL) (1)
4. If (input1 is K) and (input2 is AL) then (output1 is AL) (1)
5. If (input1 is DN) and (input2 is AL) then (output1 is AV) (1)
6. If (input1 is DV) and (input2 is AL) then (output1 is AN) (1)
7. If (input1 is DL) and (input2 is AL) then (output1 is K) (1)
8. If (input1 is AL) and (input2 is AV) then (output1 is AL) (1)
9. If (input1 is AV) and (input2 is AV) then (output1 is AL) (1)
10. If (input1 is AN) and (input2 is AV) then (output1 is AL) (1)
11. If (input1 is K) and (input2 is AV) then (output1 is AV) (1)
12. If (input1 is DN) and (input2 is AV) then (output1 is AN) (1)
13. If (input1 is DL) and (input2 is AV) then (output1 is DN) (1)
14. If (input1 is AL) and (input2 is AN) then (output1 is AL) (1)
15. If (input1 is AV) and (input2 is AN) then (output1 is AL) (1)
16. If (input1 is AN) and (input2 is AN) then (output1 is AV) (1)
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17. If (input1 is K) and (input2 is AN) then (output1 is AN) (1)
18. If (input1 is DN) and (input2 is AN) then (output1 is K) (1)
19. If (input1 is DV) and (input2 is AN) then (output1 is DN) (1)
20. If (input1 is DL) and (input2 is AN) then (output1 is DV) (1)
21. If (input1 is AL) and (input2 is K) then (output1 is AL) (1)
22. If (input1 is AV) and (input2 is K) then (output1 is AV) (1)
23. If (input1 is AN) and (input2 is K) then (output1 is AN) (1)
24. If (input1 is K) and (input2 is K) then (output1 is K) (1)
25. If (input1 is DN) and (input2 is K) then (output1 is DN) (1)
26. If (input1 is DV) and (input2 is K) then (output1 is DV) (1)
27. If (input1 is DL) and (input2 is K) then (output1 is DL) (1)
28. If (input1 is AL) and (input2 is DN) then (output1 is AV) (1)
29. If (input1 is AV) and (input2 is DN) then (output1 is AN) (1)
30. If (input1 is AN) and (input2 is DN) then (output1 is K) (1)
31. If (input1 is K) and (input2 is DN) then (output1 is DN) (1)
32. If (input1 is DN) and (input2 is DN) then (output1 is DV) (1)
33. If (input1 is DV) and (input2 is DN) then (output1 is DL) (1)
34. If (input1 is DL) and (input2 is DN) then (output1 is DL) (1)
35. If (input1 is AL) and (input2 is DV) then (output1 is AN) (1)
36. If (input1 is AV) and (input2 is DV) then (output1 is K) (1)
37. If (input1 is AN) and (input2 is DV) then (output1 is DN) (1)
38. If (input1 is K) and (input2 is DV) then (output1 is DV) (1)
39. If (input1 is DN) and (input2 is DV) then (output1 is DL) (1)
40. If (input1 is DV) and (input2 is DV) then (output1 is DL) (1)
41. If (input1 is DL) and (input2 is DV) then (output1 is DL) (1)
42. If (input1 is AL) and (input2 is DL) then (output1 is K) (1)
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43. If (input1 is AV) and (input2 is DL) then (output1 is DN) (1)
44. If (input1 is AN) and (input2 is DL) then (output1 is DV) (1)
45. If (input1 is K) and (input2 is DL) then (output1 is DL) (1)
46. If (input1 is DN) and (input2 is DL) then (output1 is DL) (1)
47. If (input1 is DV) and (input2 is DL) then (output1 is DL) (1)
48. If (input1 is DL) and (input2 is DL) then (output1 is DL) (1)
49. If (input1 is DV) and (input2 is AV) then (output1 is K) (1)
3.2.1.4 Chn lut hp thnh
T tp cc lut iu khin ta c th dng cc lut hp thnh Max-Min,
Max-Prod hay cc lut hp thnh khc tm hm lin thuc hp thnh ca tp m
u ra. y ta chn lut hp thnh Max-Min, ta c kt qu nh sau:

3.2.1.5 Gii m
T hm lin thuc hp thnh ca tp m u ra, ta c th dng phng
php gii m thch hp xc nh r u ra ca b gii m. Phng php gii m
c chn cng gy nh hng n phc tp v trng thi lm vic ca ton b
h thng. Thng trong thit k h thng iu khin m, gii m bng phng php
trng tm hay trung bnh m c nhiu u im hn c, v lc kt qu u ra c s

Hnh 3.17 Cc lut hp thnh.
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tham gia y ca tt c cc lut iu khin. y gii m bng phng php
trng tm, ta c kt qu hp thnh v gii m nh hnh v:

3.2.1.6 Chng trnh v kt qu m phng h truyn ng c khe h:

Hnh 3.18 Quan h vo ra ca b iu khin m.

Hnh 3.19 S m phng h truyn ng c khe h vi b iu khin PID v b iu
khin m theo lut PI.

Hnh 3.20 S khi ca khi lut m.

Lun vn thc s

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Nhn xt:
Sau khi a b iu khin m vo thay th b iu khin PID nng cao
cht lng cho h truyn ng c khe h, t kt qu m phng trn phn mm
Matlab ta thy s dng b iu khin m cho kt qu tt hn so vi b iu khin
PID:
- V tr cn iu khin t chnh xc nhanh hn
- Tc nhanh chng t trng thi n nh v khng cn dao ng.
- c bit nu khe h nh v hiu sut truyn ng khng cao b iu khin
m p ng c yu cu. Nhng trong thc t khe h lun thay i, hiu sut
truyn ng i hi cao th b iu khin m cha p ng c yu cu v th tc
gi xut phng n dng b iu khin m thch nghi.
.
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.2
0.4
0.6
0.8
1
Thoi gian (s)

Hnh 3.21 Kt qu m phng ca h truyn
ng c khe h vi b iu khin PID.
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.2
0.4
0.6
0.8
1
Thoi gian (s)

Hnh 3.22 Kt qu m phng ca h truyn ng
c khe h vi b iu khin m theo lut PI.

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3.2.2 B IU KHIN M THCH NGHI
Theo nghin cu chng 2 ta thy khe h lun tn ti trong cc h thng
c in t bi v trong cc h thng c cu truyn ng khng hon ho. Mt
khc trong h thng iu khin cng nghip th khe h lun thay i v h phi tuyn
c tnh ng, trong qu trnh lm vic do ma st c s mi mn ca bnh rng... Vi
b iu khin m ta thy khc phc c hin tng dao ng ca h thng khi
s dng b iu khin PID. b iu khin m h s khuch i u ra l c nh
k = 26. Song trong th c t khe h lun thay i, khi khe h thay i th h s
khuch i u ra k cng phi thay i v b iu khin m khng p ng c
yu cu ca h truyn ng. khc phc hin tng , tc gi xut phng n
s dng b iu khin m thch nghi. B iu khin thch nghi c thit k t b
iu khin m, song b iu khin thch nghi h s khuch i u ra k thay i
theo lut Lyapunov.

Hnh 3.24 S khi ca b iu khin m thch nghi.

Hnh 3.23 S m phng h truyn ng khe h vi b iu khin m thch nghi.

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0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.2
0.4
0.6
0.8
1
Thoi gian (s)

Hnh 3.27 Kt qu m phng ca h truyn ng c khe h
vi b iu khin m thch nghi.

0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
5
10
15
20
25
30

Hnh 3.25 S thay i ca h s khuch i u ra k theo lut Lyapunov.
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
0
0.2
0.4
0.6
0.8
1
Thoi gian (s)

Hnh 3.26 Kt qu m phng ca h truyn ng c khe
h vi b iu khin PID.
Lun vn thc s

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Nhn xt:
Sau khi a b iu khin m thch nghi vo thay th b iu khin m, t
kt qu m phng trn phn mm Matlab ta thy s dng b iu khin m thch
nghi t cht lng ng tng ln r rt, thi gian qu gim, qu trnh lm vic
ca h truyn ng khe h bm theo m hnh mt cch nhanh chng.

0 1 2 3 4 5
0
0.2
0.4
0.6
0.8
1
Thoi gian (s)

Hnh 3.28 Kt qu m phng ca h truyn ng c khe h
vi b iu khin PID, b iu khin m & m thch nghi.

3 3.5 4 4.5 5
0.96
0.98
1
1.02
1.04
1.06

B iu khin PID
B iu khin m
B iu khin m
thch nghi
Lun vn thc s

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Kt lun
:
.
Kho st v nu ra c nhng nhc im ca h truyn ng c khe h.
Thit k c b iu khin m v b iu khin m thch nghi cho h
truyn ng c khe h. Kt qu m phng cho thy khi s dng b iu khin m
h truyn thng khng cn dao ng. Song trong h thng iu khin cng nghip
th khe h lun thay i v h phi tuyn c tnh ng. Khi khe h thay i th b
iu khin m cho ta kt qu cha c tt. Vi b iu khin m thch nghi cht
lng ng ca h thng tng ln r rt, h thng lm vic n nh. V vy vic p
dng b iu khin hin m v m thch nghi cho h truyn ng c khe h s gp
phn nng cao cht lng iu khin h thng, nng cao nng sut lao ng, nng
cao cht lng v tng kh nng cnh tranh ca sn phm trn th trng.
Kin ngh
Vic nng cao cht lng h thng truyn ng c khe h c th s dng
nhiu b iu khin khc, nh lun vn ny ti s dng b iu khin m v b
iu khin m thch nghi nng cao cht lng h thng. Nu c iu kin ti c
th tin hnh nghin cu thit k v ng dng thay th bng nhng b iu khin
thng minh khc nh:
- B iu khin m noron.

Lun vn thc s

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TI LIU THAM KHO
A. Ting Vit
[1] Nguyn nh Hin, Li Khc Li (2007), H m v nron trong k thut iu
khin, NXB Khoa hc t nhin v cng ngh, H Ni.
[2] Li Khc Li (2007), ng dng h m - nron nhn dng h phi tuyn nhiu
chiu, Tp ch Khoa hc & Cng ngh cc trng i hc k thut (s 60).
[3] Li Khc Li, Xy dng h iu khin thng minh iu khin i tng phi
tuyn kh m hnh ho, ti NCKH cp b nm 2002; M s: B2002.02.03.
[4] Li Khc Li, Nghin cu ng dng h m + N ron iu khin chuyn
ng nhiu trc, ti NCKH cp b nm 2004; M s: B2004.
[5] Li Khc Li; Mt thut ton thit k b iu khin thng minh v ng dng,
Tuyn tp cc bo co khoa hc Hi ngh ton quc ln th 6 v t ng ho
4/2005, Tr 306-311.
[6] Trung Hi (2006), Nghin cu l thuyt iu khin m v mng nron ng
dng gii quyt bi ton phi tuyn trong h truyn ng in, ti nghin cu
khoa hc v cng ngh cp b, trng i hc K thut Cng nghip Thi Nguyn.
[7] Phan Xun Minh & Nguy n Don Phc (2006), L thuyt iu khin m,
nh xut bn Khoa hc v K thut, H Ni.
[8] Bi Chnh Minh, Nghin cu iu khin chuyn ng cho h c xt n nh
hng ca khp ni mm vi h iu khin phn hi trng thi, Bo co ti
NCKH cp b nm 2005, m s CB2005-07.
[9] Nguyn Thng Ng (2006), L thuyt iu khin t ng - Quyn 3, nh
xut bn Khoa hc v K thut, H Ni.
[10] Nguyn Don Phc, Phan Xun Minh & Hn Thnh Trung (2003), L thuyt
iu khin phi tuyn, nh xut bn Khoa hc v K thut, H Ni.

Lun vn thc s

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B. Ting Anh
[1] George Ellis, Cures for Mechanical Resonance in Industrial Servo Systems, A
Danaher Motion Company, USA.
[2] George Ellis, Robert D. Lorenz, Resonant Load Control Methods for Industrial
Servo Drives, IEEE Industry Applications Society, Annual Meeting, Rome, Italy,
2000.
[3] Mechanical Resonance, PT Design Magazine, 1999.
[4] Koji Sugiura and Yoichi Hori, Vibartion Suppression in 2-and 3 Mass System
Based on the Feedback of Imperfect Derivative of the Estimated Torsional Torque.
IEEE, Vol 43, No 1, February -1996.
[5] OdaiM.and HoriY. Speed control of 2-inertia system with gear backlash using
gear torque compensator 1998
[6] NakayamaY,FujikawaK.and KobayashiH. A torque control method of three-
inertia torsional system with backlash 2000
[7] GelbA.and Vander Velde W.E. Multiple- input describing functions and
nonlinear system design 1968: NewYork
[8] MeesA. and BergenA. Describing functions revisited 1975:University of
California, Berkeley
[9] TaylorJ.and WilsonB. A frequency-domain model-order-deduction algorithm for
nonlinear systems 1995: New Brunswick University
[10] ArmstrongB.and AminB. PID control in the presence of static friction:
Acomparison of Algebraic and describing function analysis 1996:Milwaukee
[11] RmstrongB.and AminB.PID control in the presence of static friction:Exact and
describing function analysis 1994:Milwaukee
[12] Brandenburg G.and SchferU. Influence and partial compensation of backlash
for aposition controll edelastic two- mass system 1987:Grenoble
[13] BonehR.and YanivO. Control of anelastic two-mass system with large
backlash 1999:Tel Aviv
[14] Friedland,B. Feedback control of systems with parasitice?ects
1997:Albuquerque
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[15] LinC., YuT. and FengXu Fuzzy control of a nonlinear pointing test bed with
backlash and friction 1996: Kobe.
[16] SmithM.C. Nonlinear and predictive control:Describing functions 2004.
[17] DhaouadiR.,KuboK.and TobiseM. Analysis and compensation of speed drive
systems with torsional loads 1994.
[18] HSUJ. and MeyerA. Modern Control Principles and Applications 1968:
McGraw-Hill, NewYork.

.
.
.
H thng

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I HC THI NGUYN

TRNG HKT CNG NGHIP

l hai tp m con ca E, ngha l:

ta li xy dng kiu m rng hnh tr c(A) vi A lm c s (m

l cc tp m ca tp c s X.X v Y. Gi thit lut ko

c th hin nh mt quan h m R trn X Y nh vy tp m

cm sinh t x l A v lut m nu x l A th y l B s c xc nh bi:

b ( , t) : L thng s c th c iu chnh, c th coi

b bin i chm, phng

trong (1.50) ni ln tc hi t ca thut thch nghi.

+ + + = nm na tri mt phng phc. Tc l cc nghim p

l cc tham s do ngi thit k t ra.

bao ph min xc nh ca cc bin ngn ng u vo (j = 1,..., n l s

( Vl hng s c chn bi ngi thit

l mt hng s dng. S dng (3.21) v (3.16) ta c:

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