Thuyetminhdoantotnghiep

Trng hspkt hng yn
Khoa in- in T n tt
nghip
Nhn xt ca gio vin hng dn
.
Ging vin hng dn: Th.s L Th Minh Tm
Th.s Nguyn Vit Ng
1
Trng hspkt hng yn
Khoa in- in T n tt
nghip
..
Ngi hng
dn :
Li ni u
Trong thi i ngy nay vi s pht trin nh v bo v khoa
hc k thut, b mt th gii c nhng thay i v cng
to ln. C th ni khoa hc k thut hin i ang v s
gy nh hng mnh m n ton nhn loi. Mt trong
Th.s Nguyn Vit Ng
2
Trng hspkt hng yn
Khoa in- in T n tt
nghip
nhng ngnh k thut hin i l iu khin m. iu
khin m hin ang c vai tr quan trng trong cc h iu
khin hin i, v n m bo tnh kh thi ca h thng
rt cao, ng thi li thc hin tt cc ch tiu k thut ca
h nh tc ng nhanh. iu khin m c th mnh trong
cc h thng sau:
- H thng iu khin phi tuyn
- H thng iu khin m cc thng tin u vo hoc u
ra khng hoc khng chnh xc.
- H thng iu khin kh xc nh c m hnh hoc
khng xc nh c m hnh i tng.
L in tr l mt i tng c tnh phi tuyn cao v c qun
tnh ln v vy vic s dng iu khin m iu khin
cho i tng ny l hon ton ph hp. Trong n ny chng
em c giao ti l : Nghin cu, thit k h thng
iu khin t ng l in tr. n cp n
nhng vn sau:
- Tng quan l thuyt iu khin m.
- c im cng ngh ca l in tr.
- Xy dng thut ton iu khin m cho h thng
iu khin t ng l in tr.
- Kho st v m phng.
- Kt lun.
Tuy nhin do thi gian v trnh c hn nn c nhiu thiu
st, rt mong c s ch bo tn tnh ca cc thy c gio
cng nh bn b bn n ny c hon thin hn.
Th.s Nguyn Vit Ng
3
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Chng em xin gi li cm n su sc n cc thy c trong
khoa in- in T c bit l c gio- Th.s L Th Minh
Tm v Thy gio- Th.s Nguyn Vit Ng tn tnh gip
to iu kin cho em thc hin n ny.
Th.s Nguyn Vit Ng
4
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Mc lc
Li ni u..........................................................................2
Mc lc.................................................................................. 5
Danh mc cc hnh v.......................................................6
phn m u ........................................................8
Chng I............................................................................... 12
Tng quan v l thuyt iu khin m.....................12
1.1. Lch s pht trin l thuyt m.........................12
1.3.1.2. cao, min xc nh v min tin cy
ca tp m................................................................ 16
1.6.2. Nhng nguyn tc tng hp b iu khin
m................................................................................. 35
1.7.1.1 .Thut ton tng hp mt b iu khin
m tnh....................................................................38
1.7.2.2. B iu khin m theo lut I ...............42
1.7.2.3. B iu khin m theo lut PD............43
Chng 2.............................................................................. 46
c im cng ngh ca l in tr.........................46
Chng 3.............................................................................. 59
Thit k b iu khin m iu khin t ng l
in tr.............................................................................59
Chng 4.............................................................................. 69
M phng h thng iu khin m cho l in tr
trn phn mm MatLab v WinFact...............................69
4.1.1.2 Modul m phng BORIS.............................77
......................................................................................... 116
Chng 5...........................................................................116
Kt lun v khuyn ngh.............................................116
5.1 Kt lun ................................................................116
Ti liu tham kho.........................................................120
Th.s Nguyn Vit Ng
5
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Danh mc cc hnh v
Tn hnh v trang
Hnh 1.1: Hm ph thuc
A
(x) ca tp kinh in
A
16
Hnh 1.2: Minh ho v min xc nh v min tin
cy ca mt tp m
19
Hnh 1.3: B iu khin m vi quy tc MAX-MIN
23
Hnh 1.4 :Hm lin thuc ca cc gi tr cho bin
thi gian
25
Hnh 1.5 Gi tri r y khng ph thuc vo p
ng vo ca lut
28
Hnh 1.6 Gi tri r yph thuc vo p ng vo
ca lut iu khin quyt nh.
28
Hnh 1.7. Gi tri r y ph thuc tuyn tnh vi p
ng vo ca lut iu khin quyt nh
29
Hnh 1.8 Gi tri r y l honh ca im trng
tm
30
Hnh 1.9 Xc nh gi tr r theo phng php
im trng tm khi min gi tr ca rp m
khng lin thng
31
Hnh 1.10 Cu trc bn trong ca b iu khin
m
31
Hnh 1.11 Mch iu khin vi b iu khin m
32
Hnh 1.12 B iu khin m tnh
36
Hnh 1.13 Hm lin thuc ca cc tp m u vo
vi i = 1;2 v
37
Hnh 1.14 ng c tnh y(x) cho trc.
38
Hnh 1.15 B iu khin m ng vi 4 u vo
v 2 u ra.
39
Hnh1.16 M hnh iu khin m theo lut I
40
Th.s Nguyn Vit Ng
6
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 1.17 H thng iu khin m theo lut PD
41
Hnh 1.18 M hnh iu khin m theo lut PI.
41
Hnh 2.1: S i tng iu chnh
43
Hnh 2.2. c tnh ng hc ca i tng
51
Hnh 2.3. Cch xc nh cc thng s ca i tng
52
Hnh 3.1 Biu din cc lut iu khin di dng
ma trn
57
Hnh 3.1a. Phng php chnh nh m tham s
b iu khin PID
58
Hnh 3.1b. Bn trong b chnh nh m
59
Hnh 4.1a : Khai bo b iu khin
72
Hnh 4.1b: Khai bo b iu khin
72
Hnh 4.1c: Khai bo b iu khin
73
Hnh 4.2a: Giao din chn s bin v t di cho
bin u vo ET
73
Hnh 4.2b: Giao din chn s bin v t di cho
bin u vo DET
74
Hnh 4.2c: Giao din chn s bin v t di cho
bin u vo GOCMO
74
Hnh 4.3. Xy dng lut iu khin m
75
Hnh 4.4 :La chn lut hp thnh
75
Hnh 4.5: Mi quan h gia cc bin u vo v
ra
76
Hnh 4.6: S khi ca b iu khin m
77
Hnh 4.7: S m phng h thng
77
Hnh 4.8: Giao din thit k h m
79
Hnh 4.9: S khi b m chnh nh Kr
81
Hnh 4.10: Bn chn lut m chnh nh Kr
85
Hnh 4.11: c tuyn u ra ca b m chnh
86
Th.s Nguyn Vit Ng
7
Trng hspkt hng yn
Khoa in- in T n tt
nghip
nh Kr
Hnh 4.12: S h thng dng phng php m
chnh nh K ca b PI
87
Hnh 4.13: Tn hiu ra ca h thng dng phng
php m chnh nh K ca b PI khi tn hiu t
l Step
87
Hnh 4.14 Tn hiu ra ca h thng dng phng
php m chnh nh K ca b PI khi tn hiu t
l hm constants=0.6
88
Hnh 4.15: S khi b m chnh nh Ti
89
Hnh 4.16: Bn chn lut m chnh nh Ti
93
Hnh 4.17: c tuyn u ra ca b m chnh
nh Ti
94
Hnh 4.18: S h thng dng phng php m
chnh nh Ti ca b PI
95
php m chnh nh Ti ca b PI khi tn hiu t
l Step
95
php m chnh nh Ti ca b PI khi tn hiu t
l hm constants = 0.6
96

phn m u
1.C s la chn ti
Cc h thng iu khin khi thit k u yu cu tha mn
cht lng t ra, cc ch tiu cht lng phi tt nht theo
mt ngha no . Trong trng hp tng qut, cc ch tiu
ti u ca mt h iu khin thng c gi tiu chun ti u,
cc tiu chun ti u l:
Th.s Nguyn Vit Ng
8
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- Thi gian qu ngn nht
- qu iu chnh nh nht
- Sai lch tnh nh nht
- Cu trc nh nht
- Nng lng tiu th trong h thng t nht
Vic nng cao cht lng h thng iu khin t ng lun
l ch tiu quan tm u tin ca cc nh thit k. Xut
pht t ch tiu nhiu l thuyt iu khin hin i ra
i thay th cho nhng l thuyt c c nghin cu tng
i phc tp kh m hnh ha hoc i tng phi tuyn c
thng s thay i.
Nhng nm u ca thp k 90, mt nghnh iu khin k
thut mi c pht trin rt mnh m v em li nhiu
thnh tu bt ng trong lnh vc iu khin, l iu
khin m. Ngnh k thut mi m ny c gio s Zazech
t nn mng t nm 1965. u im c bn ca iu
khin m so vi cc h iu khin kinh in l c th tng
hp c b iu khin m khng cn bit trc c tnh ca
i tng mt cch chnh xc, c th ni iu khin m
chuyn giao nguyn tc x l thng tin, iu khin ca h
sinh hc sang h k thut. Chnh v vy, iu khin m
gii quyt thnh cng nhiu bi ton iu khin phc tp
m trc y cha gii quyt c. H m kt hp vi h
nron ang v s tr thnh h iu khin thng minh ca
tr tu nhn to.
2. Khch th v i tng nghin cu
Th.s Nguyn Vit Ng
9
Trng hspkt hng yn
Khoa in- in T n tt
nghip
i tng l l in tr: trong thc t, trong cng nghip cc
l nhit thng c cng sut rt ln, qun tnh ln, tm nhit
hot ng rng v c nhiu cch t nng khc nhau nh dng
l xo, kh t, sng cao tnKhi iu khin nhit , c
tnh cn ch l qun tnh, nng sut ta nhit ra mi
trng. Tnh cht ca l nhit ph thuc vo th tch, vt
liu cch nhit v ngun nhit.
Nhit bung l khng hon ton ng u v cp nhit
cng c qun tnh kh ln nn vic xc nh nhit cn
ph thuc vo v tr t b cm bin nhit . y i
tng iu chnh chnh l nhit gi nng m c t
nng bi l in tr nn v tr t sensor phi ti ni o
nhit gi nng
3 . Ni dung v phm vi nghin cu
Ni dung chnh ca n cp n 3 vn chnh :
- Tng quan l thuyt iu khin m
- c im cng ngh ca l in tr
- Xy dng thut ton iu khin m cho h thng
iu khin t ng cho l in tr
- Kho st v m phng
- Kt lun
Ton b ni dung ca n c chia thnh 5 chng:
Chng 1: C tiu Tng quan v l thuyt iu khin
m
Chng ny trnh by mt s vn c bn v h iu
khin m, v kh nng ng dng ca chng trong cng
Th.s Nguyn Vit Ng
10
Trng hspkt hng yn
Khoa in- in T n tt
nghip
nghip. ng thi nu ln cu trc ca mt h iu khin m
v cc lut iu khin.
Chng 2: C tiu c im cng ngh ca l in
tr
Chng ny chng em thc hin vic m t m hnh l
sy, phn loi l in tr . ng thi chng em nu c
cc phng php iu khin nhit cho l in tr v
nhn dng i tng.
Chng 3 : C tiu Thit k b iu khin m cho h
thng iu khin t ng l in tr.
Trong chng ny chng em i xy dng lut iu khin m
cho l in tr bng hai phng php l iu khin gin
tip v iu khin trc tip.
Chng 4 : M phng h thng iu khin m cho l in
tr trn phn mm Matlab v winfact.
Trong chng ny chng em nghin cu c phn mm
Winfact 7.0, thit k h thng l in tr bng phn mm
Winfact v nghin cu cch s dng phn mm Matlab.
Chng 5: Kt lun v kin ngh.
Chng ny chng em tng kt li ton b nhng phn
nghin cu cc chng v a ra kt lun.
4. Nhim v nghin cu
- Nghin cu l thuyt lin quan n iu khin m
- Nghin cu v i tng cn iu khin
- Xy dng c thut ton iu khin
- M phng trn phn mm Matlab v Simulink
5. Phng php nghin cu
Th.s Nguyn Vit Ng
11
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- Nghin cu l thuyt xy dng thut ton iu khin
- Dng m phng kim nghim kt qu nghin cu l
thuyt
- Dng thc nghim khng nh kt qu nghin cu
6. ngha l lun v thc tin ca ti
V khoa hc: n gp phn hon thin v chun ho
vic thit k h thng iu khin m
V thc tin: Vi cc kt qu thu c ti gp phn :
- Gii quyt cc mt phn nhng kh khn trong vic tng
hp h iu khin m. l vic xy dng h iu khin
m m bo cht lng m khng cn nhiu kin thc v kinh
nghim vn hnh ca cc chuyn gia.
- Tng hp b iu khin m cho mt s i tng phi tuyn
c nhiu chuyn ng v i tng c tr.
Chng I
Tng quan v l thuyt iu khin m
1.1. Lch s pht trin l thuyt m
T nm 1965 ra i mt l thuyt mi, l l thuyt
iu khin m (Fuzzy set theory) do gio s Lofti A.Zadeh tr-
ng i hc Califonia- M a ra. T khi l thuyt ra i
n c pht trin mnh m qua cc cng trnh khoa hc ca
cc nh khoa hc nh:
Nm 1972 GS terano v Asai thit lp ra c s nghin cu h
thng iu khin m nht, nm 1980 hng Smith Co, bt
u nghin cu cho l hi Nhng nm u thp k 90 cho
n nay h thng iu khin m v mng Nron c cc
Th.s Nguyn Vit Ng
12
Trng hspkt hng yn
Khoa in- in T n tt
nghip
nh khoa hc cc k s v sinh vin trong mi lnh vc khoa
hc k thut c bit quan tm v ng dng trong k thut
v i sng. Tp m v logic m da trn thng tin khng
y v i tng iu khin i tng mt cch
chnh xc.
Trong nhng nm gn y, l thuyt tp m c ng
dng rt rng ri trong nhiu lnh vc nh: cc vt dn
dng( iu ho, my git ), iu khin nhit , iu
khin trong giao thng vn ti, chn on v iu tr bnh
trong y hc cc vi mch chuyn dng ca iu khin m
cng c ch to v ngy cng hon thin.
1.2. B iu khin m v u im ca n
iu khin m chim mt v tr quan trng trong iu
khin hc k thut hin i, n nay iu khin m l
mt phng php iu khin ni bt bi tnh linh hot v
thu c nhng kt qu kh quan trong nghin cu, ng dng
l thuyt tp m, logic m v suy lun m. Nhng tng c
bn trong h iu khin logic m l tch hp kin thc ca
cc chuyn gia trong thao tc vo cc b iu khin, quan
h gia cc u vo v u ra ca h iu khin logic m
c thit lp thng qua vic la chn cc lut iu khin
m( nh lut if- then) trn cc bin ngn ng. Lut iu
khin if- then l cu trc dng iu kin nuth trong
c mt s t c c trng bi cc hm lin thuc lin tc. Cc
lut m v cc thit b suy lun m l nhng cng c gn vi
vic s dng kinh nghim chuyn gia trong vic thit k cc
b iu khin.
Th.s Nguyn Vit Ng
13
Trng hspkt hng yn
Khoa in- in T n tt
nghip
So vi cc gii php k thut t trc n nay c p dng
tng hp cc h iu khin, phng php tng hp b iu
khin bng iu khin m c nhng u im r rt sau:
- Khi lng cng vic thit k gim i nhiu do khng cn s
dng m hnh i tng trong vic tng hp h thng.
- B iu khin m d hiu hn cc b iu khin khc v
d dng thay i
- i vi cc bi ton thit k c phc tp cao, gii php
dng b iu khin m cho php gim khi lng tnh ton v
gi thnh sn phm
- Trong nhiu trng hp b iu khin m lm vic n nh
hn, bn vng hn kh nng chng nhiu cao hn.
1.3. Nhng khi nim c bn
1.3.1 Khi nim v tp m
1.3.1.1. nh ngha tp m
Hm ph thuc
A
(x) nh ngha trn tp A, trong khi nim
tp hp kinh in ch c hai gi tr l 1 nu xA hoc 0 nu
xA. Hnh 1.1 m t hm ph thuc ca hm
A
(x), trong
tp A c nh ngha nh sau:
A= 'xR 2<x<6 ) (1.1)

A
(x)

0 2 6 x
Th.s Nguyn Vit Ng
14
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 1.1 :Hm ph thuc
A
(x) ca tp kinh
in A
Cch biu din hm ph thuc nh vy s khng ph hp vi
nhng tp hp c m t m nh tp B gm cc s thc d-
ng nh hn nhiu so vi 6
B= 'xR x<<6 ) (1.2)
hoc tp C gm cc s thc gn bng 3 cng c tp nn R
C= 'xR x3 ) (1.3)
L do l vi nhng nh ngha m nh vy cha xc
nh c mt s x= 3,5 c thuc B hoc x= 2,5 c thuc C
hay khng.
Nu khng khng nh c x=3,5 c thuc B hay khng
th cng khng khng nh c x=3,5 khng thuc B . Vy
th x=3,5 thuc B bao nhiu phn trm? Gi s rng c cu
tr li th lc ny hm ph thuc
B
(x) ti im x=3,5 phi
c mt gi tr trong khong [0;1], tc l
0
B
(x) 1
Ni mt cch khc hm
B
(x) khng cn l hm hai gi tr nh
i vi tp kinh in na m l mt nh x
B
: X[0;1]
Trong X l tp nn ca tp m
*nh ngha 1:
Tp m F xc nh trn tp kinh in X l mt tp m mi
phn t ca n l mt cp cc gi tr (x,
F
(x)) trong xX
v
F
l nh x
F
:X[0;1] (1.4)
Th.s Nguyn Vit Ng
15
Trng hspkt hng yn
Khoa in- in T n tt
nghip
nh x
F
c gi l hm thuc (hoc hm ph tuc ) ca tp
m F. Tp kinh in X c gi l nn ca tp m F.
S dng cc hm ph thuc tnh ph thuc ca mt
phn t x no c hai cch :
- Tnh trc tip (nu
F
(x) cho trc di dng cng thc tng
minh ) hoc
- Tra bng (nu
F
(x) cho di dng bng).
1.3.1.2. cao, min xc nh v min tin cy ca
tp m
*nh ngha 2:
cao ca mt tp m F(nh ngha trn c s X) l gi tr
h =sup
F
(x) (1.5)
xX
Mt tp m t nht mt phn t c ph thuc bng 1 -
c gi l tp m chnh tc tc l h =1, ngc li mt tp m F
cn vi h<1 c gi l tp m khng chnh tc .
Bn cnh khi nim v cao, mi tp m F cn c hai khi
nim quan trng khc l:
- min xc nh.
- min tin cy .
*nh ngha 3:
Min xc nh ca tp m F (c nh ngha trn nn X),
c k hiu bi S l tp con ca M tho mn:
S = supp
F
(x) = ' xX
F
(x) >0 ) (1.6)
* nh ngha 4:
Th.s Nguyn Vit Ng
16
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Min tin cy ca tp m F (nh ngha trn c s X), c k
hiu bi T, l tp con ca M tho mn
T=' xX
F
(x) =1 ) (1.7)
Hnh 1.2 l mt v d v min xc nh v min tin cy
ca tp m

Hnh1.2: Minh ho v min xc nh v min tin cy
ca mt tp m.
1.3.1.3 Cc php ton trn tp m
Php hp hai tp m
Hp A
B ca 2 tp Av B c hiu l 1 tp m gm cc phn
t ca 2 tp A,B cho, trong hm thuc
B A
(x) ca
Th.s Nguyn Vit Ng
17
) (x
F
x
0
Min
tin cy
Min xc
nh
Trng hspkt hng yn
Khoa in- in T n tt
nghip
phn t A
B khng c mu thun vi php hp ca 2 tp

kinh in
* nh ngha 5
Hp ca 2 tp m A v B c cng tp nn X l mt tp m A
B cng xc nh trn nn X c hm thuc
B A
(x) tha mn:
a)
B A
(x) ch ph thuc vo A
(x) v B
(x)
b) B
(x) = 0 vi mi x

B A
(x) = A
(x)
c)
B A
(x) =
A B
(x), tc l c tnh giao hon

d) C tnh kt hp, tc l C B A ) (
(x) = ) ( C B A
(x)
e) Nu A
1

A
2
th A
1

B
A
2

B, hay
B A
(x) c tnh
khng gim

1 A
(x)

2 A
(x)

1 A
1.3.1.4 . Bin ngn ng v gi tr ca n

m t c khi nim v ngn ng. Ta ly v d v li t.
Trong i lng tc c nhng gi tr c nhc n di
dng ngn ng nh sau:
+ Rt chm
+ Chm
+ Trung bnh
+ Nhanh v
+ Rt nhanh
Mi gi tr ngn ng ca bin tc c xc nh bng
mt tp m nh ngha trn c s l mt s thc dng ch
gi tr vt l x (n v l km/h) ca bin tc nh 40km/h,
50km/h...
1.4. Lut hp thnh
Th.s Nguyn Vit Ng
18
Trng hspkt hng yn
Khoa in- in T n tt
nghip
1.4.1. Mnh hp thnh
Cho hai bin ngn ng v . Nu nhn gi tr (m) A c
hm lin thuc
A
(x) v nhn gi tr (m) B c hm lin
thuc
B
(y) th hai biu thc:
=A,( k hiu l p)
c gi l mnh iu kin v
= B , (k hiu l q)
L mnh kt lun
Mnh hp thnh
pq (t p suy ra q)
Hon ton tng ng vi lut iu khin (mnh hp
thnh 1 iu kin)
Nu =A Th =B (1.8)
AB ( t A suy ra B)
L mt gi tr m biu din gi tr m l mt tp C th
mnh hp thnh m (1.8) chnh l nh x :
A
(x
0
)
C
(y)
1.4.2 M t mnh hp thnh
nh x
A
(x
0
)
C
(y) ch ra rng mnh hp thnh l mt
tp m mi phn t l mt gi tr (
A
(x
0
) ,
C
(y)), tc l mi
phn t l mt tp m. M t mnh hp thnh tc l m
t nh x trn .
Sau y nh x
A
(x
0
)
C
(y) s c gi l hm lin thuc
ca lut hp thnh
Nu...Th, ngha l
Th.s Nguyn Vit Ng
19
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Nu =A Th =B.
Biu thc tng ng cho hm lin thuc ca mnh hp
thnh s l:
ABMax'1-
A
(x),
B
(x)) (1.9)
Nguyn tc Mamdani: ph thuc ca kt lun khng c
ln hn ph thuc ca iu kin
T nguyn tc Mandani ta thit lp c cc cng thc (cn
gi l cc quy tc) xc nh hm lin thuc cho mnh
hp thnh AB l:
1)
AB
(x,y) = Min '
A
(x),
B
(y)) cng thc MAX-MIN
2)
AB
(x,y) =
A
(x).
B
(y)) cng thc MAX-PROD
Hai cng thc ny cho mnh hp thnh AB gi l 2 quy
tc hp thnh theo Mandani.
1.4.3 Lut hp thnh
Hm thuc B A
(y) ca mnh hp thnh A
B by gi s
c k hiu ngn gn li thnh R, ti mt gi tr r x= x 0 l
mt hm thuc cho mt gi tr m no ca bin ngn
ng
Lut hp thnh l tn chung gi m hnh R biu din mt

hay nhiu hm thuc cho mt hay nhiu mnh hp thnh
Ta hy xt mt v d v lut hp thnh R biu din m
hnh li xe t gm 3 mnh hp thnh R1, R2, R3 cho
bin tc
v bin
nh sau:
R
1
: Nu
= chm Th
=tng hoc
R
2
: Nu
= trung bnh Th
= gi nguyn hoc
Th.s Nguyn Vit Ng
20
Trng hspkt hng yn
Khoa in- in T n tt
nghip
R
3
: Nu
= nhanh Th
=gim
Vi mi gi tr vt l x 0 ca bin tc u vo th thng
qua php suy din m ta c ba tp m B
1
, B
2
, B3
= B
1
B
2

B3
(1.10)
Nu cc hm thuc '
1
B
(y),
'
2 B
(y),
'
3 B
(y) thu c theo quy

tc MIN v php hp (1.10) c thc hin theo lut max th
R c tn gi l lut hp thnh max- MIN
Tm li, xc nh hm lin thuc
R
(y) ca gi tri Rca
mt lut hp thnh c n mnh hp thnh R
1
, R
2
, R3
phi thc hin cc bc :
- Xc nh tho mn H
- Tnh '
1
B
(y),
'
2 B
(y),
'
3 B
(y)
- Xc nh
'
R
(y)
Nu xem lut hp thnh R ch c mt mnh hp thnh
R
1
: nu
=A Th
=B
Nh l lut iu khin ca b iu khin m mt vo 1 ra
(SISO) th u ra s l mt gi tr m c hm thuc
'
B
(y)
Th.s Nguyn Vit Ng
21
Trng hspkt hng yn
Khoa in- in T n tt
nghip

x
0
x
B
(y)

A
(x) H

Hnh 1.3: B iu khin m vi quy tc MAX-
MIN
Trong trng hp tn hiu vo u vo A l mt gi tr m
vi hm lin thuc
A
(x) u ra B cng l mt gi tr m c
hm lin thuc
B
(y) l phn di ca hm
B
(y) b chn trn
bi tho mn
H= MaxMin'
A
(x) ,
A
(x) ) (1.11)
1.4.4. Thut ton thc hin lut hp thnh
1.4.4.1. Lut hp thnh MAX - MIN
Lut hp thnh MAX - MIN l tn gi m hnh (ma trn) R ca
lut hp thnh ch m gi tr bin m ca n c xc nh
theo quy tc Max- Min
1.4.4.2. Lut hp thnh MAX-PROD.
Ma trn R ca lut hp thnh Max- Prod c xy dng gm
cc hng l m gi tr ri rc ca u ra '
1
B
(y1),
'
B
(y2)
'
B

Th.s Nguyn Vit Ng
22
B iu kin
m

R:AB

vi quy tc
Max- MIN
Trng hspkt hng yn
Khoa in- in T n tt
nghip
(ym) cho n gi tr r u vo x
1
, x
2
, x 3 x n nh vy ma trn
R s c m ct v n hng
1.4.4.3. Thut ton xy dng R
Phng php xy dng R cho mnh hp thnh mt iu
kin R: AB theo maxmin hay MAX-PROD, xc nh
hm thuc cho gi tr m B u ra c trnh by vi v
d v mnh hp thnh trn y hon ton c th m
rng tng t cho mnh hp thnh SISO bt k no khc
dng:
Nu = A Th =B
S chiu ca R ph thuc vo s im ly mu ca
A
(x)v
B
(y) khi ri rc cc hm lin thuc tp m A v B .
1.4.4.4 Thut ton xc nh lut hp thnh n c cu
trc MISO (Multi inputs- Single output)
Mt mnh vi iu khin mnh iu kin
Nu
1
= A
1
v
2
= A
2
v. . . v
d
= A
d
Th = B (1.12)
Bao gm d bin ngn ng u vo
1
,
2
,
d
v mt bin
u ra , trong lin kt V gia cc mnh (hay gi
tr m) c thc hin bng php giao cc tp m A
1
,A
2
, . . .
A
d
vi nhau. Kt qu ca php giao s l tho mn H ca
lut. Cc bc xy dng lut hp thnh R nh sau:
+ Ri rc ho min xc nh hm lin thuc
(
A1
(x
1
),
A2
(x
2
),. . . ,
Ad
(x
d
),
B
(y)) ca cc mnh iu kin
v mnh kt lun .
+ Xc nh tho mn H cho tng vc t cc gi tr r
u vo l vc t t hp iu khin im ly mu ph
Th.s Nguyn Vit Ng
23
Trng hspkt hng yn
Khoa in- in T n tt
nghip
thuc min xc nh ca cc hm lin thuc
Ai
(x
i
), i = 1, . . . ,
d
+ Lp R gm cc hm lin thuc gi tr m u ra cho tng
vct cc gi tr u vo theo nguyn tc

B
(y) = Min(H,
B
(y)) nu s dng MAX-MIN hoc

B
(y) = H.
B
(y) nu s dng MAX-PROD
1.4.4.5 Thut ton xc nh lut hp thnh kp max-
Min, max- PROD
a. Lut hp thmh ca hai mnh hp thnh
Xt hai mnh hp thnh ca v d li t
R1: Nu = chm Th = tng hoc (1.13a)
R2: Nu = nhanh Th = gim (1.13b)
Trong bin ngn ng ch tc xe v ch s tc
ng vo ga xe. Hm lin thuc ca gi tr m chm, nhanh
cho bin tc v tng, gim cho bin ga c m t trong
(hnh1.4)

tc

ga

chm nhanh gim
tng

0.1 0.3 0.6 0.8 1 x 0.6 1 1.4 1.8 2.2
y
Th.s Nguyn Vit Ng
24
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 1.4 :Hm lin thuc ca cc gi tr cho bin
thi gian
K hiu R l lut hp thnh chung ca b iu khin th
R = R
1
R
2
(1.14)
K hiu hm lin thuc ca R
1
l
R1
(y)v ca R
2
l
R2
(y)
th R(y) = Max'
R1
(y),
R2
(y)) (1.15)
b. Thut ton xy dng lut chung ca nhiu mnh
hp thnh .
Tng qut ho phng php m hnh ho trn cho p mnh
hp thnh gm :
R
1
: Nu = A
1
Th = B
1
hoc (1.16a)
R
2
: Nu = A
2
Th = B
2
hoc (1.16b)
.
.
.
Rp: Nu = A
P
Th = B p hoc (1.16c)
Trong cc gi tr m A
1
, A
2
, . . . , Ap c cng c s X v
B
1
, B
2
, . . . , Bp c cng c s Y
Gi hm lin thuc ca A
k
v B
k
l
Ak
(x) v
Bk
(y) vi k = 1,2, .
. . , p.
Thut ton trin khai R = R
1
R
2
. . . Rp
s nh sau :
1- Ri rc ho X ti n im x
1
,x
2
, . . . ,x
n
v Y ti mnh
im y
1
,y
2
, . . . , y
m
,
2- Xc nh cc vct
Ak
v
Bk
, k = 1,2, . . . , p theo

T
A
K
= (
A
k
(x
1
),
A
k
(x
2
) , . . . ,
A
k
(x
n
))
Th.s Nguyn Vit Ng
25
Trng hspkt hng yn
Khoa in- in T n tt
nghip

k
T
B
= (
B
k
(y
1
),
B
k
(y
2
) , . . . ,
B
k
(Y
m
))
Tc l Fuzzy ho cc im ri rc ca X v Y.
3- Xc nh m hnh cho lut iu khin.
a. R
k
=
A
k
.
k
T
B
= (r
k
i
) , i = 1,2, . . . , n
V j = 1,2, . . . , n
b. Trong php nhn c thay bng php tnh ly cc
tiu khi s dng phmng php MAX-MIN
4- xc nh lut hp thnh R
R = (max 'r
k
ij
|k = 1,2, . . . , p)) (1.17)
1.4.4.6 Thut ton xc nh lut hp thnh sum - MIN
v
sum-PROD.
Kiu lin kt nhiu mnh hp thnh, hay cn gi l lut
iu khin R
k
, Bng ton t OR theo cng thc
B A
(x,y) = Max' A (x,y), B (x,y))

khng c tnh thng k. C nhiu cch khc phc nhc im
ny. Mt trong nhng phng php ph bin nht l s dng
php hoc Lukasiewicz lin kt cc lut iu khin R
k
li
vi nhau thnh lut hp thnh chung R.
R = min '1,
P
k
k
R
1
) (1.18)
Trong php ly cc tiu min c thc hin gia s 1 v
tng phn t ca ma trn tng.
V trong cng thc (1.18) R c xc nh bng cch cng
cc Rk ca cc mnh hp thnh nn lut hp thnh chung
Th.s Nguyn Vit Ng
26
Trng hspkt hng yn
Khoa in- in T n tt
nghip
R theo kiu lin kt Lukasiewicz s c tn gi l sum- MIN
hoc sum- PROD.
1.4.5. Cc phng php gii m (r ho)
B iu khin m tng hp theo kiu (hnh1.4) cho d vi 1
hoc vi nhiu lut iu khin (mnh hp thnh), cng
cha th p dng c trong iu khin i tng, v u ra
lun l mt gi tr m B. mt b iu khin m hon chnh
th phi c thm khu gii m (qu trnh r ha tp m
u ra B).
Gii m l qu trnh xc nh mt gi tr r y no c
th chp nhn c t hm lin thuc
B
(y) ca gi tr m
B(tp m). C hai phng php gii m chnh l :phng php
cc i v phng php im trng tm s c trnh by di
y trong tp nn ca tp m B c k hiu thng nht
l Y.
1.4.5.1. Phng php cc i
Gii m theo phng php cc i bao gm 2 bc :
Bc 1: Xc nh min gi tri r y. Gi tr r y l gi tr m
ti hm lin thuc t gi tr cc i ( cao H ca tp
m B), tc l min
G = 'yY|
B
(y) = H).
Bc 2: xc nh y c th chp nhn t G.
thc hin bc ny c 3 nguyn l sau:
- Nguyn l trung bnh
- Nguyn l cn tri v
- Nguyn l cn phi
Nu k hiu
Th.s Nguyn Vit Ng
27
Trng hspkt hng yn
Khoa in- in T n tt
nghip
y
1
=
) inf(y
G y
v y
2
=
sup
G y
(y) ( 1.19)
th y
1
chnh l im cn tri v y2 l cn phi ca G.
a. Nguyn l trung bnh
Theo nguyn l trung bnh, gi tr r ys l
2
'
2 1
y y
y
+
(1.20)
Nguyn l ny thng c dng khi G l mt min lin thng v
nh vy y cng s l gi tr c ph thuc ln nht. Trong tr-
ng hp B gm cc hm lin thuc dng u th gi tr r y
(1.20) khng ph thuc vo tho mn ca lut iu khin
quyt nh . V d c minh ho nh sau :

B
B
1
B
2

H
y y
Hnh 1.5 Gi tri r y khng ph thuc vo p ng vo
ca lut iu khin quyt nh
b. Nguyn l cn tri
Gi tr r yc ly bng cn tri y
1
ca G theo (1.20). Gi tr
r y theo nguyn l cn tri s ph thuc tuyn tnh vo
tho mn ca lut iu khin quyt nh .

B

Th.s Nguyn Vit Ng
28
Trng hspkt hng yn
Khoa in- in T n tt
nghip
H B
1
B
2

y
y
Hnh 1.6 Gi tri r yph thuc vo p ng vo ca lut
iu khin quyt nh.
c. Nguyn l cn phi
Gi tr y c ly bng cn phi y
2
theo G theo (1.20). Cng
ging nh nguyn l cn phi, gi tr r y y ph thuc
tuyn tnh vo p ng vo ca lut iu khin quyt
nh .

B

B
1
B
2
H
y
y
Hnh 1.7. Gi tri r y ph thuc tuyn tnh vi p ng vo
ca lut iu khin quyt nh
Th.s Nguyn Vit Ng
29
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Kt lun : Sai lch ca ba gi tr r , xc nh theo trung
bnh, cn tri hay cn phi s cng ln nu tho mn H
cng nh .
1.4.5.2. Phng php im trng tm
- Phng php im trng tm s cho ra kt qu y l honh
ca im trng tm min c bao bi trc honh v -
ng
B
(y) hnh 1.8 s minh ho cho ta thy:

B

y y
Hnh 1.8 Gi tri r y l honh ca im trng tm
Cng thc xc nh y theo phng php im trng tm
nh sau:
Th.s Nguyn Vit Ng
30
S
Trng hspkt hng yn
Khoa in- in T n tt
nghip

) 21 . 1 (
) (
) (
'
'
'
S
B
S
B
dy y
dy y y
y

Trong S l min xc nh ca tp m B
Cng thc (1.20) cho php xc nh gi tr y vi s tham gia
ca tt c cc tp m u ra ca mi lut iu khin mt
cch bnh ng v chnh xc, tuy nhin li khng c
ti tho mn ca lut iu khin quyt nh v thi gian
tnh lu. Ngoi ra mt trong nhng nhc im c bn ca
phng php im trng tm l c th gi tr y xc nh
c li c ph thc nh nht, thm ch bng khng (c
minh ho trn hnh 1.9). trnh nhng trng hp nh vy, khi
nh ngha hm lin thuc cho tng gi tr m ca 1 bin
ngn ng nn sao cho min xc nh ca cc gi tr
m u ra l mt min lin thng.

B

gi
tng nguyn gim

y y
Th.s Nguyn Vit Ng
31
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 1.9 Xc nh gi tr r theo phng php im
trng tm khi min gi tr ca rp m khng lin thng.
1.5. Cc khu iu khin m
1.5.1 . B iu khin m c bn
- B iu khin m bao gm cc khu c bn sau:
+ Khu fuzzy ho c nhim v chuyn i mt gi tr r
u vo x
0
thnh mt vecto
gm cc ph thuc ca
gi tr r theo cc gi tr m (tp m)
+ Khu thc hin lut hp thnh c tn gi l thit b hp
thnh, x l vecto
v cho ra gi tr m B ca ngn ng
u ra.
+ Khu gii m c nhim v chuyn i tp m B thnh
mt gi tr r Y chp nhn c cho i tng (tn hiu iu
chnh)
B iu khin m:

B y
.
X

Hnh 1.10 Cu trc bn trong ca b iu khin
m
1.6. Nguyn l iu khin v phng php tng
hp b iu khin m
1.6.1 Nguyn l v cu trc ca mt h thng
iu khin m
Th.s Nguyn Vit Ng
32
Fuzzy
ho
R
1
:Nu . . . Th
.
.
.
Rq:Nu . . . Th

Gii m
Trng hspkt hng yn
Khoa in- in T n tt
nghip
e B u
x e u y
Hnh 1.11 Mch iu khin vi b iu khin m
H thng iu khin m i tng cng c coi nh l mt
h thng neuron (thn kinh), hay ng hn l mt h thng
iu khin c thit k m khng cn bit trc m hnh
i tng.
- H thng iu khin m c thit k trn:
+ Giao din u vo bao gm cc khu Fuzzy ho v cc
khu ph tr thm thc hin bi ton ng nh khu I,D .
. .
+ Thit b hp thnh m bn cht ca n l s trin khai lut
hp thnh R c xy dng trn c s lut iu khin hay
cn gi l lut quyt nh.
+ Khu giao din u ra (khu chp hnh) gm khu gii
m v cc khu giao din trc tip vi i tng.
Th.s Nguyn Vit Ng
33
luti
ukhi
n
Thit b
thc
hin lut
hp
thnh
Biu
khinm

i tng
Thit b
o
Giao
din
u
vo
Giao
din
u
ra
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- Nguyn tc tng hp b iu khin m hon ton da vo
nhng phng php ton hc trn c s nh ngha cc bin
ngn ng vo/ra v s la chn nhng lut iu khin .
Cc tn hiu ra y ca i tng c o bng b cm bin v
c x l s b trc khi a vo b iu khin
- Tri tim ca b iu khin m chnh l cc lut iu khin
m c bn c dng l tp cc mnh hp thnh cng cu
trc nu . . . th
v nguyn tc trin khai cc mnh hp thnh c tn
l nguyn tc MAX - MIN hay SUM - MIN . . . M hnh R ca
lut iu khin c xy dng theo mt nguyn tc trin
khai chn trc v c tn gi l lut hp thnh .
- i vi cc h thng iu khin gin on c b iu khin
m , khi n cn lm vic trn c s tn hiu s, c th thit
k cc b iu chnh theo lut P,I,D nh sau:
+ Lut iu khin P : y
k
= K.x
k
K:l h s khuych i
+ Lut iu khin I : k
i
a
k
x
T
T
y

+1
T
I
: l hng s tch phn
+ Lut iu khin D :
) (
1
k k
a
D
k
y x
T
T
y

+
T
D
: l hng s vi phn
T
a
l chu k gin on (chu k ly mu tn hiu)
Nu nh ch dng mt thit b hp thnh th hin lut iu
khin th lut s phi c dng chung:
Nu
1
= A
k
1
v
2
= A
k
2
v
3
= A
k
3
. . . th
1
= B
k
1
v
2
=
B
k
2
. (1.22)
Th.s Nguyn Vit Ng
34
Trng hspkt hng yn
Khoa in- in T n tt
nghip
1.6.2. Nhng nguyn tc tng hp b iu khin m
Mt iu kh l th ca iu khin l vi mt min compact
XR
n
(n s u vo) cc gi tr vt l ca bin ngn ng
u vo v mt ng cong phi tuyn g(x) tu nhng lin
tc cng cc o hm ca n trn X th bao gi cng tn ti
mt b iu khin m c bn c quan h truyn t y(x)
tho mn:
sup|y(x) - g(x)|< (1.23)
xX
Trong l mt s thc dng bt k cho trc. iu cho
thy k thut iu khin m c th gii quyt c mt bi
ton tng hp iu khin (tnh) phi tuyn bt k .
1.6.2.1. nh ngha cc bin vo/ra
1.6.2.2. Xc nh tp m
Bc tip theo l nh ngha cc bin ngn ng vo/ra bao
gm s cc tp m v dng cc hm lin thuc ca chng.
lm c vic cn xc nh :
a. Min gi tr vt l (c s) ca cc bin ngn ng
vo/ra .
b. S lng tp m ( gi tr ngn ng)
V nguyn tc, s lng cc gi tr ngn ng cho mi bin
ngn ng nn nm trong khong t 3 n 10 gi tr.
c . Xc nh hm lin thuc
Cn chn cc hm lin thuc c phn chng ln nhau v ph
kn min gi tr vt l trong qu trnh iu khin
khng xut hin l hng.
Th.s Nguyn Vit Ng
35
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Trong mt vi trng hp c bit, chn hm lin thuc hnh
thang hon ton hp l, l nhng trng hp m s thay
i cc min gi tr ca tn hiu vo khng ko theo s
thay i bt buc tng ng cho min gi tr tn hiu ra.
Ni chung hm lin thuc c chn sao cho min tin cy ca
n ch c mt phn t, hay ch tn ti mt im vt l c
ph thuc bng cao ca tp m.
d . Ri rc ho cc tp m
phn gii ca cc gi tr ph thuc c chn trc hoc l
cho cc nhm iu khin m loi du phy ng (cc s
biu din di dng du phy ng c chnh xc n)
hoc nguyn ngn( gi tr ph thuc l cc s nguyn c
di 2 byte) hoc theo byte (cc gi tr ph thuc l cc s
khng du c di 1byte).
1.6.2.3. Xy dng cc lut iu khin.
- Trong vic xy dng cc lut iu khin (mnh hp
thnh) cn ch vng ln cn im khng, khng c to
ra cc l hng, bi v khi gp phi cc l hng xung
quanh im lm vic b iu khin s khng th lm vic
theo ng nh trnh t nh
- tin li v bao qut cc lut ny biu din di dng ma
trn R
- Ngoi ra cn phi rng, trong phn ln cc b iu
khin, tn hiu ra s bng khng khi tt c tn hiu vo bng
khng.
Th.s Nguyn Vit Ng
36
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- pht trin thm, c th chn h s an ton cho tng lut
iu khin, tc l khi thit lp lut hp thnh chung
R = R
1
R
2
. . . R
k

ca tt c cc lut iu khin R
k
, k = 1,2, . . .n c chn
tham gia mt cch bnh ng m theo mt h s an ton
nh trc
1.6.2.4. Chn thit b hp thnh.
- S dng lut MAX-MIN , MAX-PROD,
- S dng cng thc Lukasiewics c lut SUM-MIN, SUM-PROD
- S dng tng Einstein
- S dng tng trc tip
1.6.2.5. Chn nguyn l gii m
Phng php gii m (xc nh gi tr u ra r) c chn
cng gy nh hng n phc tp v trng thi lm vic
ca ton h thng. Thng trong thit k h thng iu
khin m, gii m bng phng php im trng tm c
nhiu u im hn c, bi v trong kt qu u c s tham
gia ca tt c cc kt lun ca cc lut iu khin R
k

k = 1,2, . . . n (mnh hp thnh).
1.6.2.6. Ti u ho.
Sau khi b iu khin m c tng hp, c th ghp ni n
vi i tng iu khin thc hoc vi 1 i tng m phng
th nghim.
1.7. Cc b iu khin m .
1.7.1. B iu khin m tnh
Cc b iu khin m tnh l nhng b iu khin c quan
h vo/ra y(x) trong x l u vo v y l u ra, theo
Th.s Nguyn Vit Ng
37
Trng hspkt hng yn
Khoa in- in T n tt
nghip
dng mt phng trnh i s (tuyn tnh hay phi tuyn).
Cc b iu khin tnh in hnh l nhng b khuych
i P, b iu chnh Relay hai v tr . . .
M hnh b iu khin tnh dng b iu khin m t l
cho iu khin nhit .
x ET

_ y

Hnh 1.12 B iu khin m tnh
1.7.1.1 .Thut ton tng hp mt b iu khin m
tnh
a. nh ngha tp m
N
1
tp m u vo A
1
1
, A
2
1
, . . . , A
N1
1
trn khong [
1
,
1
] ca
x
1
c hm lin thuc A
j
1
(x
1
), j = 1,2, . . . , N
1
dng hnh thang
cho trong (hnh 1.13) sau, vi a
1
1
= b
1
1
=
1
v c
N1
1
= d
N1
1
=
1

A
j
i
(x)
Th.s Nguyn Vit Ng
38
B iu
khin
m
t l

Gii
m
i
tng
Thit b o
Trng hspkt hng yn
Khoa in- in T n tt
nghip
a
j
i
b
j
i
c
j
i
d
j
i
x
i
Hnh 1.13 Hm lin thuc ca cc tp m u vo vi i =
1;2 v j = 1;2, . . . , N
i
N
2
tp m u vo A
1
2
, A
2
2
, . . . , A
N2
1
trn khong [
2
,
2
] ca
x
2
c hm lin thuc A
j
2
(x
2
), j = 1,2, . . . , N
2
dng hnh thang
cho trong (hnh1.13) sau, vi a
1
2
= b
1
2
=
2
v c
N2
2
= d
N2
2
=
2
K hiu cc gi tr e
1
i
=
i
, e
Ni
i
=
i
v
2
j
i
i j
i
c b
e
+
cho i =
1;2v j = 2;3, . . . , N
i
-1
b. Chn thit b hp thnh.
Chn nguyn tc trin khai SUM- PROD cho mnh hp
thnh, tch i s cho php giao v cng thc Lukasiewicz
cho php hp th tp m u vo l mt gi tr r .
c. Chn phng php gii m
Chn phng php cao gii m v rng cc lin
thuc l hnh thang cn nn php ly tch MIN c th b
qua m khng nh hng ti kt qu.
1.7.1.2. Tng hp b iu khin m tuyn tnh tng
on
Th.s Nguyn Vit Ng
39
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Xt ng y(x) c 6 cp im nt (x
k
,y
k
) khuych i = 16.
ng c tnh ca b iu khin s tng hp cng lin
tc c ti nhng im nt ny th :
+ Mi mt gi tr r u vo phi tch cc c hai lut iu
khin
+ Mi hm lin thuc u vo c dng hnh tam gic vi
nh l mt nt th khuch i v min xc nh l
khong [x
k-1
.x
k+1
] nm hai pha im nt y
k
.
+ S dng nguyn tc cao gii m .
+ Ci t lut hp thnh theo nguyn l MAX-MIN
y
y
6
y
4
,y
5
x
1
x
2
x
3
x
4
x
5
x
5
x
y
3
y
1
,y
2
Hnh 1.14 ng c tnh y(x) cho tr-
c.
Tng qut ln th thut ton tng hp b iu khin m c
ng c tnh y(x) tuyn tnh tng khc cho trc s nh sau:
+ Xc nh cc nt (x
k
,y
k
) , k = 1,2, . . . , n ca y(x).
Th.s Nguyn Vit Ng
40
Trng hspkt hng yn
Khoa in- in T n tt
nghip
+ nh ngha n tp m u vo A
k
, k = 1,2, . . . , n c hm
lin thuc
Ak
(x) dng hnh tam gic vi nh l im x
k
v
min xc nh l khong [x
k-1
,x
k+1
] , trong cho B
1
v B
n
th cc im x
0
, x
n+1
l nhng im bt k tho mn
x
0
<x
1
v x
n+1
>x
n
.
+ Xc nh n tp im u ra B
k
, k = 1,2 , . . . , n c Bk(y)
l cc hm Kroecker nh ngha ti y
k
.
+ nh ngha tp n lut iu khin dng
R
k
: nu = A
k
th = B
k
, k = 1,2, . . . , n
+ S dng nguyn tc cao gii m.
1.7.2 .B iu khin m ng.
B iu khin m ng l nhng b iu khin phi hp
gia h kinh in (cc khu P,I,D) vi h m.
M hnh iu khin m ng s dng phi hp cc
khuPID.
x
1
ET1
u
1

DET1
y
1

ET2 U2
x
2
y
2

DET2
Th.s Nguyn Vit Ng
41

Thit b
hp thnh
v gii

Lut iu
khin
P1
D1
P2
D2
I1
I2
i
tng
Thit b o
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 1.15 B iu khin m ng vi 4 u vo
v 2 u ra.
S bin i tn hiu sai lch u vo ET theo thi gian c
th xc nh bng o hm ca sai lch. o hm DET c
ly t u ca khu D kinh in gip cho b iu khin
phn ng kp thi vi cc bin ng t sut c cc i tng
1.7.2.1.B iu khin m theo lut PID
B iu khin m c thit k theo thut ton chnh
nh PID c 3 u vo gm sai lch ET gia tn hiu ch
o v tn hiu ra, o hm DET ca sai lch v tch phn
ET ca sai lch. u ra ca b iu khin m chnh l tn
hiu iu khin u(t). M hnh ton hc ca b PID theo
thut ton chnh nh c dng :

) 24 . 1 (
1
) (
0

,
_
+ +
ET
dt
d
T ETdt
T
ET K t u
D
t
I

Thng ngi ta thit k b iu khin m theo lut PID c m
hnh

,
_
+ ET
dt
d
T ET K t u
D
) (
hoc
( )
) 25 . 1 (
2
2
,
_
+ ET
dt
d
ET
dt
d
K
dt
du

1.7.2.2. B iu khin m theo lut I
Mt b iu khin m theo lut I c th thit k t mt b
iu khin m theo lut P (b iu khin m tuyn tnh )
bng cch ni tip mt khu tch phn kinh in vo trc
hoc sau khi m . Do tnh phi tuyn ca h m, nn
Th.s Nguyn Vit Ng
42
Trng hspkt hng yn
Khoa in- in T n tt
nghip
vic mc khu tch phn trc hay sau h m hon ton
khc nhau .
M hnh iu khin theo lut I c mc u ra nh sau:

Nhiu

x ET P
y
_
Hnh1.16 M hnh iu khin m theo lut I
1.7.2.3. B iu khin m theo lut PD
Theo (1.25) th khi mc ni tip u vo ca mt b
iu khin m theo lut t k mt khu vi phn s c c
mt b iu khin m theo lut PD.
- M hnh iu khin m theo lut PD nh sau:
Th.s Nguyn Vit Ng
43
Lut hp
thnh

Thit b
hp
thnh
v gii m
Fuzzy
ho
I
i
tng

B iu

khin m

i tng
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 1.17 H thng iu khin m theo lut PD
1.7.2.4 B iu khin m theo lut PI
B iu khin m theo lut PI thng c s dng trit
tiu sai lch tnh ca h thng. B iu khin PI s c thit
k trn c s ca b iu khin PD m, bng cch ni tip
u ra ca b iu khin PD m mt khu tch phn .
M hnh iu khin theo lut PI nh sau:
Nhiu
DET
x
P
y
_

Th.s Nguyn Vit Ng
Nhiu
ET
DET
-
44

B iu

khin m
i tng
I
P
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 1.18 M hnh iu khin m theo
lut PI.
* Kt lun chng 1
Trong chng ny chng em cp n nhng vn
sau:
- Lch s pht trin l thuyt m.
- B iu khin m v u im ca n.
- Mt s khi nim c bn: khi nim v tp m,
cao, min xc nh v min tin cy ca tp m.
- Cc php ton trn tp m: hp hai tp m, bin ngn
ng.
- Lut hp thnh.
- Cc phng php gii m: phng php cc i, phng
php trng tm.
- Cc khu iu khin m.
ng thi trong chng ny chng em trnh by cc
phng php ton hc tng hp v phn tch mt
h thng tng hp m cung cp cho bn c nhng
kin thc c bn nht c kh nng t tng hp b
iu khin m n gin.
Th.s Nguyn Vit Ng
45
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Chng 2
c im cng ngh ca l in tr
t vn
i tng nghin cu l l in tr l mt i tng phi tuyn.
Trong thc t c rt nhiu phng php tng hp thit k b
iu khin kinh in cho i tng ny. Nhng do i tng th-
ng xuyn thay i trng thi nn h iu khin kinh in
c tin cy khng cao v ngi thit k gp rt nhiu kh
khn trong qu trnh xc nh cc thng s ca b iu
khin, kh khn s khng cn l vn nan gii khi b
iu khin c thit k da trn c s logic m v cng
n gin hn trong vic thc hin gii php ny.
Trn y chng ta nghin cu v tng quan l thuyt
iu khin m: cc lut hp thnh, cc phng php gii
m. c th iu khin c i tng mt cch chnh xc
chng ta hy i nghin cu v c im cng ngh ca
i tng c th l l in tr.
Th.s Nguyn Vit Ng
46
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Trn yu cu cng ngh, s i tng iu chnh c
trnh by nh sau:
2.1 M t m hnh l in tr
2.1.1. Cu to ca l in tr
Hnh 2.1: S i tng iu chnh
Trong :
1. Bung t
2. Qut gi
3. Nhit k in tr
4. Dy nung
R/U- chuyn i in tr sang in p
A/D - chuyn i tng t sang s
MT - my tnh
D/A- chuyn i s sang tng t
TX - mch to xung
TH - thyristor
- Bung t c ch to kn v c cch nhit vi bn ngoi
Th.s Nguyn Vit Ng
47
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- Dy t l dy in tr c t trong bung t. Cp
in cho dy t l ngun in xoay chiu iu chnh
c thng qua vic iu chnh gc m ca hai thyristor
mc song song ngc T1, T2
- Qut t pha u bung t dng lu thng lung
khng kh c sy nng
A/D, D/A nm trong CARD ghp ni m hiu.dng bin
i tn hiu tng t sang s v tn hiu s thnh tn hiu
tng t a vo my tnh (MT) thc hin qu trnh iu
khin bng my tnh.
MT c s dng lm thit b iu chnh, s dng cc phn
mm MATLAB iu khin thc.
Trong h thng, i tng l mt loi l in tr s dng loi
dy nung Cr- Al( k hiu l XA) c nhit lm vic di
1200
0
C. Tn hiu ra ca l c ly ra bi nhit k in tr
s 3. Nhit ca l c khng ch t 0
0
C n 1000
0
C t-
ng ng tn hiu ra ca cp nhit in t 0V
10V. Tn
hiu ny s c a ti b chuyn i R/U sau cng c
a ti my tnh thng qua b chuyn i A/D. Sau khi c
x l iu chnh my tnh ri qua b chuyn i D/A ta
thu c Udk . Tn hiu Udk c a vo b iu chnh cng
sut (tc l thay i gc m ca Thyristor). Nh tn hiu
iu khin m ta c th thu c tn hiu t vo l theo
yu cu.
2.1.2. Phn loi l in tr
L in tr l thit b bin i in nng thnh nhit
nng thng qua h thng dy t( dy in tr). T dy
Th.s Nguyn Vit Ng
48
Trng hspkt hng yn
Khoa in- in T n tt
nghip
t qua bc x, i lu truyn nhit v dn nhit, nhit nng
c truyn ti vt cn gia nhit. L nhit in tr thng dng
nung, nhit luyn nu chy kim loi mu v hp kim mu.
Phn loi l in tr c nhiu cch
Theo nhit lm vic ca l.
L nhit thp( t
0
<650
0
C)
L nhit trung bnh (650
0
C <t
0
<1200
0
C)
L nhit cao trn 1200
0
C
Theo ni dng
L dng trong cng nghip
L dng trong phng th nghim
L dng trong gia nh
Theo kt cu ca l
L bung
L ging, l chp, l b
Theo mc ch s dng
L ti
L ram
L
L nu chy
nc ta thng dng kiu l bung nhit luyn(ti, ,
nung , thm than), kiu l ging nung
2.1.3. Cu to l in tr
Th.s Nguyn Vit Ng
49
Trng hspkt hng yn
Khoa in- in T n tt
nghip
L in tr thng thng gm ba phn chnh : v l, lp
lt v dy nung.
2.1.3.1 V l
V l in tr l mt khung cng vng, ch yu
chu ti trng trong qu trnh lm vic ca l. Mt khc v
l cng dng gi lp cch nhit ri v m bo s kn
hon ton hoc tng i ca l.
i vi cc l lm vic vi kh bo v, cn thit v l phi
hon ton kn, cn i vi cc l in tr bnh thng, s
kn ca v l ch cn gim tn tht nhit v trnh s la ca
khng kh lnh vo l, c bit theo chiu cao l.
Trong nhng trng hp ring, l in tr c th lm v l
khng bc kn.
Khung v l cn cng vng chu c ti trng
ca lp lt, ph ti l ( vt nung ) v cc c cu c kh gn
trn v l.
- V l ch nht thng dng l bung, l lin tc, l y
rung v.v...
- V l trn dng cc l ging v mt vi l chp v.v...
- V l trn chu lc tc dng bn trong tt hn v l ch
nht khi cng mt lng kim loi ch to v l. Khi kt cu
v l trn, ngi ta thng dng thp tm dy 3 6 mm khi -
ng knh v l l 10002000 mm
v 8 12 mm khi ng knh v l l 2500 4000 mm
v 14 20 mm khi ng knh v l khong 4500 6500
mm.
Th.s Nguyn Vit Ng
50
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Khi cn thit tng cng vng cho v l trn, ngi ta
dng cc vng m tng cng bng cc loi thp hnh.
V l ch nht c dng ln nh cc thp hnh U, L v
thp tm ct theo hnh dng thch hp. V l c th c bc
kn, c th khng tu theo yu cu kn ca l. Phng php
gia cng v l loi ny ch yu l hn v tn.
2.3.1.2 Lp lt
Lp lt l in tr thng gm hai phn : vt liu chu la
v cch nhit.
Phn vt liu chu la c th xy bng gch tiu chun, gch
hnh v gch hnh c bit tu theo hnh dng v kch
thc cho ca bung l. Cng c khi ngi ta m bng cc
loi bt chu la v cc cht dnh dt gi l cc khi m.
Khi m c th tin hnh ngay trong l v cng c th
tin hnh ngoi nh cc khun.
Phn vt liu chu la cn m bo cc yu cu sau :
+ Chu c nhit lm vic cc i ca l.
+ C bn nhit ln khi lm vic.
+ C bn c hc khi xp vt nung v t thit
b vn chuyn trong iu kin lm vic.
+ m bo kh nng gn dy nung bn v chc chn.
+ C bn ho hc khi lm vic, chu c tc dng
ca kh quyn l v nh hng ca vt nung.
+ m bo kh nng tch nhit cc tiu. iu ny c
bit quan trng i vi l lm vic chu k.
Phn cch nhit thng nm gia v l v phn vt liu
chu la. Mc ch ch yu ca phn ny l gim tn
Th.s Nguyn Vit Ng
51
Trng hspkt hng yn
Khoa in- in T n tt
nghip
tht nhit. Ring i vi y, phn cch nhit i hi phi
c bn c hc nht nh cn cc phn khc ni chung
khng yu cu.
Yu cu c bn ca phn cch nhit l :
+ H s dn nhit cc tiu
+ Kh nng tch nhit cc tiu
+ n nh v tnh cht l, nhit trong iu kin lm
vic xc nh.
Phn cch nhit c th xy bng gch cch nhit, c th
in y bng bt cch nhit.
2.1.3.3 Dy nung
Theo c tnh ca vt liu dng lm dy nung, ngi ta chia
dy nung lm hai loi : dy nung kim loi v dy nung phi
kim loi.
Trong cng nghip, cc l in tr dng ph bin l dy
nung kim loi.
2.1.4 Cc phng php iu chnh l in tr
Nhit cn iu chnh l nhit bung l.Vic iu
khin bung l chnh l iu khin cng sut t vo l
i lng cn iu chnh l nhit bung l. Vic iu
khin nhit bung l chnh l iu khin cng sut t
vo l
P=I
2
R T
C hai phng n xy dng cng thc ny:
Phng n th nht l iu chnh v pha tiu th tc l thay
i in tr ca l. Phng php ny t c p dng bi
tnh khng lin tc v phm vi iu khin.
Th.s Nguyn Vit Ng
52
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Phng n th hai l iu chnh v pha cung cp tc l
thay i cng dng in chy qua thanh nung. iu ny
c th thc hin bng bin p, role hoc cc linh kin in
t
2.1.4.1 Phng php dng my bin p.
y l phng php iu chnh in p theo cp, n
i hi bin p phi c cng sut ln. Phng php
dng bin p thay i mc in p cung cp cho
l l phng php th s t dng trong h thng iu
khin t ng.
2.1.4.2 Phng php dng rle
Phng php ny c c im l khng ch mc nhit ,
mc in p khc nhau nhng do rle ch c tc dng iu
chnh mt s thi im ngng nht nh nn vic iu
chnh mng tnh cht khng lin tc. Mt khc qu trnh
iu khin lun b dao ng ph thuc vo cc thi im
t khc nhau, v th chnh xc iu chnh khng
cao, r le phi ng ct nhiu ln nn tin cy km. Tuy
nhin phng php ny c u im: n gin, d ni ph hp
vi cc yu cu v cng ngh i hi chnh xc khng
cao.
2.1.4.3 Phng php dng rle kt hp vi Thysistor.
Khi s dng phng php ny th kh nng iu chnh vi
cc phm vi khc nhau l tng i tt. Tuy nhin phng php
ny khng thc hin c bi v khi tip im ca rle
ng ta lun c c chu k cung cp cho ti, khi m ngun
th cung cp pha Thysistor b ngt, do vic cung cp
Th.s Nguyn Vit Ng
53
Trng hspkt hng yn
Khoa in- in T n tt
nghip
cho l ch hon ton l do Thysistor v nh vy cng sut a
vo l ch iu khin c 1/2 chu k.
2.1.4.4 Phng php dng hai Thysistor mc i xng.
Khi c xung iu khin th hai Thysistor s ln lt m cho
dng i qua. Ta c th iu khin cho Thysistor lin tc
chuyn t ng sang m tng ng vi cng sut l thay i
t gi tr 0 n gi tr ln nht.
Phng php ny cho php iu chnh trong phm vi rng,
p ng yu cu iu khin, chnh xc iu khin t-
ng i cao, nhy iu chnh tng i ln, c kh nng
iu chnh tng i lin tc v u n.
Phng php iu chnh Thysistor c th iu bin hoc
iu khin rng xung.
+) M theo bin: y l phng php n gin hn. Khi sai
lch a vo b iu khin, u ra ca n s iu khin
m Thysistor, khi (sau khi chia 255-ADC 8 bit) ny
s ng vai tr in p iu khin, tc l trong ton b chu
k, in p a vo u dy nung l c nh. Tuy nhin
in p a vo l nung ph thuc vo gc m
ca
Thysistor. Khi c in p vo l th cng sut a vo l
t l vi din tch phn Sin cn li. Chnh v th m phng
php ny lun b phi tuyn.
+) M theo rng xung: Phng php ny khc phc c
nhc im ca phng php trn l s phi tuyn, trong
thc t s tuyn tnh ca phng php ny lm cho cht lng
ng iu chnh nhit tt hn. Vi phng php ny,
trong mt chu k, thi gian a vo dy nung thay i theo
Th.s Nguyn Vit Ng
54
Trng hspkt hng yn
Khoa in- in T n tt
nghip
s iu khin ca rng xung. Cn in p a vo khi
Thysistor ng hoc m l c nh.
2.1.4.5 Phng php dng Triac
Triac c chc nng ging hai Thysistor mc song song ngc
chiu v vy n gin mch iu khin cng sut ta c
th dng Triac thay cho hai Thysistor mc xung i.
2.1.5 u im ca l in tr
- m bo tc nung ln v nng sut cao
- m bo nung u v chnh xc do d iu chnh ch
in v nhit
- Kn
- C kh nng c kh ho v t ng ho qu trnh cht d
nguyn liu v vn chuyn vt phm
- m bo iu khin lao ng hp v sinh, iu kin thao
tc tt, thit b gn nh
2.1.6 Mt ng dng in hnh ca l in tr
L in tr lm vic trong di nhit 8001000
0
C c ng
dng rt a dng trong nhiu cng ngh khc nhau nh:
+ kim loi gim cng
+ Ti hp kim en, hp kim mu nng cao cng.
+ Nung vt phm hp kim trc khi gia cng nng: rn ,
dp, cn, ko...
+ Thng ha cc vt phm c kh tng cng ,
bn, chng mi mn
+ Ha nhit luyn : thm cc bon cho cc sn phm
lm tng lng cc bon lp b mt kim loi, ci thin c
tnh ca kim loi
Th.s Nguyn Vit Ng
55
Trng hspkt hng yn
Khoa in- in T n tt
nghip
2.2. Nhn dng i tng
Trong thc t ngi thit k thng nhn dng i tng bng
phng php thc nghim. i vi i tng l in tr th ta
c th dng hai phng php nhn dng i tng ny
l phng php thc nghim v phng php l thuyt. Nhng
khi s dng phng php l thuyt xc nh hm truyn
ca i tng th chng ta gp rt nhiu kh khn trong vic
tng hp cc khu ng hc, v hm truyn ca i tng
thng khng chnh xc do trong h thng s dng rt nhiu
cc cu ni m mi cu ni cng c mt hm truyn nht
nh. V vy ta s dng phng php thc nghim s khc
phc c nhng kh khn ny.
Do khng c modul kt ni phn cng v phn mm chuyn
dng nn chng em ch tin hnh thit k v m phng h
iu khin m cho l in tr trn phn mm. Vi c
tnh ng hc ca i tng do c gio hng dn cho sn c
dng nh sau:
Hnh 2.2. c tnh ng hc ca i tng
Th.s Nguyn Vit Ng
56
Trng hspkt hng yn
Khoa in- in T n tt
nghip
T ng c tnh ng hc ca i tng cho sn chng
ta nhn thy y l hm qun tnh bc nht c tr c dng:
1 + Tp
K
e
-LP
xc nh c hm truyn ca i tng khi bit ng
c tnh trn ta s dng phng php Ziegler - Nichols th
nht.
Hnh 2.3. Cch xc nh cc thng s ca i t-
ng
Ta c L l khong thi gian u ra h(t) cha c phn ng ngay
vi kch thch 1(t) ti u vo v c gi tr = 30.
K l gi tr gii hn h
=
t
lim
h(t)= 0.5
T l khong thi gian cn thit sau L tip tuyn ca h(t)
ti im L=30 t c gi tr K. Khi T= 500
Qua kt qu tnh ton trn ta c hm truyn ca i tng
l:
P
e
p
p W
30
1 500
5 . 0
) (

+
* Kt lun chng 2
Th.s Nguyn Vit Ng
57
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Trong chng 2 chng em thc hin c mt s cng
vic sau:
- M t c m hnh l sy.
- Phn loi l in tr.
- Nu c u im ca l in tr.
- Nhn dng i tng.
Qua ta nhn thy l in tr c tnh phi tuyn cao
v c qun tnh ln v vy iu khin c nhit
ca l mt cch chnh xc th vic nghin cu c
im ca l l mt vic lm ht sc quan trng n
gip ch rt nhiu trong vic thit lp lut m cho b
iu khin. T ng c tuyn ng hc cho sn
chng em tnh ton cc thng s ca i tng, t
xc nh c hm truyn ca i tng l in tr
gip ch cho vic m phng h thng iu khin m
cho l in tr chng sau.
Th.s Nguyn Vit Ng
58
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Chng 3
Thit k b iu khin m iu khin t
ng l in tr
t vn
Trn c s m hnh m Mamdani c trnh by trn, da
vo c im cng ngh ca l in tr, trong chng ny
chng em tin hnh xy dng thut ton iu khin nhit
nh sau:
Trc ht tn hiu a vo iu khin c nhn t b cm
bin nhit t xc nh c sai lch gia tn hiu
ch o v tn hiu ra ca i tng. Sau chng em s
dng m hnh Mamdani vi h MISO. u ra l gc m
ca
Thyristor.
i vi i tng ny chng em s dng hai phng php iu
khin l:
- Dng b m iu khin trc tip i tng l in tr.
Th.s Nguyn Vit Ng
59
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- Dng b m chnh nh thng s ca b PI iu khin cho
i tng l in tr.
3.1 Dng b m iu khin trc tip i tng l in
tr
3.1.1 nh ngha cc bin vo/ ra
- i lng vo ca b iu khin chnh l sai lch (k hiu l
ET) Gia nhit cn gi n nh (tn hiu ch o x) v
nhit thc y (nhit o c t cm bin ca l in
tr)
- S bin i theo thi gian ca sai lch (o hm
ET
dt
d
)
gia tn hiu ch o v tn hiu ra ca i tng(c biu
din bng DET)
- Cng sut P l i tng iu khin. c iu khin thng
qua gc m ca b iu p (T). S thay i gc m l bin
ra ca b iu khin.
3.1.2 Xc nh tp m
3.1.2.1 Min gi tr vt l ca cc bin ngn ng vo/
ra
Sai lch nhit ET c chn trong min gi tr t -24
0
C
n 24
0
C
Tc bin i DET ca sai lch c gi tr bin i t
-3
0
C n 3
Gc m
chn trong khong 20

0
n 100
0
3.1.2.2 S lng tp m
Th.s Nguyn Vit Ng
60
Trng hspkt hng yn
Khoa in- in T n tt
nghip
V nguyn tc s lng tp m nm trong khong t 3 n
10. Trong n ny chng ta s dng 7 bin gi tr ngn
ng c k hiu ngn gn suy ra t ting Anh nh sau:
m nhiu - NB (Negative Big)
m - NM (Negative Medium)
m t - NS (Negative Small)
Khng - ZE ( Zero)
Dng nhiu - PB (Positive Big)
Dng - PM(Positive Medium)
Dng t - PS ( Positive Small)
Vi nhng k hiu nh vy th min xc nh ca cc bin
ngn ng vo/ ra s l:
ET
{NB, NM, ZE, PS, PM, PB}

DET
{ NB, NM, ZE, PS, PM, PB}

{ NB, NM, ZE, PS, PM, PB}

3.1.2.3 Xc nh hm thuc
Cn chn nhng hm lin thuc c xp chng ln nhau v
ph kn min gi tr vt l trong qu trnh iu khin
khng xut hin l hng . Nh trnh by trn th hm
thuc hnh thang c xp chng ln nhau rt nh nhn
chung khng ph hp vi b iu khin m, n to ra mt vng
cht trong trong trng thi lm vic ca b iu khin.
V vy trong n ny tp m c chn dng hnh tam gic
cn m bo c cc yu cu.
Bin vo ET:
Th.s Nguyn Vit Ng
61
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Bin vo DET:
Bin ra
:
3.1.2.4 Xy dng cc lut iu khin
Trong vic xy dng cc lut iu khin th vng ln cn
im khng khng c to ra cc l hng, bi v khi gp
phi cc l hng xung quanh im lm vic b iu
khin s khng th lm vic ng theo trnh t nh.
Nhng nguyn tc iu khin:
1. Nu ET=NB v DET = ZE th
= NB hoc
2. Nu ET=NM v DET = ZE th
= NM hoc
3. Nu ET=NS v DET = ZE th
= NS hoc
Th.s Nguyn Vit Ng
62
Trng hspkt hng yn
Khoa in- in T n tt
nghip
4. Nu ET=ZE v DET = ZE th
= ZE hoc
5. Nu ET=PS v DET = ZE th
= PS hoc
6. Nu ET=PM v DET = ZE th
= PM hoc
7. Nu ET=PB v DET = ZE th
= PB hoc
8. Nu ET=ZE v DET = NB th
= NB hoc
9. Nu ET=ZE v DET = NM th
= NM hoc
10.Nu ET=ZE v DET = NS th
= NS hoc
11.Nu ET=ZE v DET = PS th
= PS hoc
12.Nu ET=ZE v DET = PM th
= PM hoc
13.Nu ET=ZE v DET = PB th
= PB
Hnh 3.1 Biu din cc lut iu khin di dng ma trn.
Cch biu din ny rt thun tin v bao qut. T ma trn
trong hnh 3.1 c th thy r ch c 13 lut trong tng s
49 kh nng phi hp l thch ng vi nguyn tc iu khin
nhit cho l in tr. Cc lut iu khin c thit lp
da trn mnh hp thnh vi hai iu kn v mt kt
lun.
ET/DE
T
NB NM NS ZE PS PM PB
NB NB
NM NM
NS NS
ZE NB NM NS ZE PS PM PB
PS PS
PM PM
PB PB

Hnh 3.1 Biu din cc lut iu khin di dng ma trn
3.1.2.5 Chn thit b hp thnh v gii m
Th.s Nguyn Vit Ng
63
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Cch tnh ton cho mt v d c th. Vn t ra l gi
thit khi bit c cc gi tr r c th ca cc bin u
vo, b iu khin m cn xc nh c mt gi tr c th
u ra l bao nhiu iu khin i tng, c th y
l nhit cn thit l bao nhiu. Da vo vic chn cc tp
m u vo, u ra v cc lut NuTh trn, chn
lut hp thnh MaxMin v gii m theo phng php
trng tm. V phng php trng tm c u im l c
tnh n nh hng ca tt c cc lut iu khin n gi
tr u ra.
Phng php dng b m trc tip iu khin i tng s c
m phng bng phn mm WinFact chng 4.
3.2 Dng b m chnh nh thng s ca b PI iu
khin cho i tng l in tr.
3.2.1 Chnh nh tham s b iu khin PID
Mt b iu chnh PID u vo e(t), u ra u(t) c m
hnh ton hc nh sau :
U(t) =K
r 1
]
1
+ +
0
) ( ) (
1
) (
t
D
I
dt t de T dt t e
T
t e
Hoc
s K
s
K
K G
D
I
r PID
+ +
Trong :
I
r
I
K
K
T
v
Kr
K
T
D
D

Th.s Nguyn Vit Ng
64
B
chnh
nh
m
Thi t b
chnh
nh
B i u
khi n
PI D
i t
ng
y
e,de/
dt
x
Trng hspkt hng yn
Khoa in- in T n tt
nghip

Hnh 3.1a. Phng php chnh nh m tham s b
iu khin PID

Hnh 3.1b. Bn trong b chnh nh m
Cc tham s K
r
, T
I
, T
D
hay K
r,
K
I
, K
D
ca b iu khin PID c
chnh nh trn c s phn tch tn hiu ch o v tn
hiu ra ca h thng, chnh xc hn l sai lch e(t) v o
hm de/dt ca sai lch. C nhiu phng php chnh nh
cc tham s ca b PID nh chnh nh qua phim hm mc
tiu, chnh nh trc tip, nhng phng php n gin nhng
d p dng hn l phng php chnh nh m Zhao,
Tomizki v Isaca. Vi gi thit K
r
, K
D
b chn tc l :
] , [
min m
r r r
K K K v ] , [
min m
D D D
K K K
Zhao, Tomizki v Isaca chun ho cc tham s nh sau :
Th.s Nguyn Vit Ng
65
B chnh
nh m 1
B chnh
nh m 2
B chnh
nh m 3
K
R
e
e
K
D
Trng hspkt hng yn

Khoa in- in T n tt
nghip

min
min
r
m
r
r r
r
K K
K K
k
;
min
min
D
m
D
D D
D
K K
K K
k
Nh vy b chnh nh m s c hai u vo la e(t), de(t)/dt

v 3 u ra k
r
,k
D
, trong :

D
r
I
D
T
K
K
K
T
T
2

Nh vy c th coi nh 3 b chnh nh m nh, mi b c hai
u vo v 1 u ra.
3.2.2 Chnh nh m cho b tham s PI
Nh vy ta s c hai cch iu chnh tham s ca b PI
+ Gi nguyn k
r
v iu khin T
I
.
+ Gi nguyn T
I
v iu khin k
r
.
Hm thuc :
Bin vo E:
Bin vo ET:
Bin ra k
r
v T
I
:
Th.s Nguyn Vit Ng
66
Ti kr,
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Bin ngn ng u ra k
r
, T
I
gm c 2 gi tr m:
Ln - B : big
Nh - S : small
Vi hm thuc tng ng cho 7 gi tr m :
m nhiu - NB (Negative Big)
m - NM (Negative Medium)
m t - NS (Negative Small)
Khng - ZE ( Zero)
Dng nhiu - PB (Positive Big)
Dng - PM (Positive Medium)
Dng t - PS ( Positive Small)
Lut iu khin chnh nh c xy dung theo cc ma
trn sau:
*) Lut chnh nh T
I
:
NB S S S S S S S
NM B B S S S B B
NS B B B S B B B
ZE B B B B B B B
PS B B B S B B B
PM B B S S S B B
PB S S S S S S S
*) Lut hp thnh k
r
:
Th.s Nguyn Vit Ng
67
e
de
de
Trng hspkt hng yn
Khoa in- in T n tt
nghip
NB B B B B B B B
NM S B B B B B S
NS S S B B B S S
ZE S S S B S S S
PS S S B B B S S
PM S B B B B B S
PB B B B B B B B
* Kt lun chng 3
Trong chng 3 chng em i thit k b iu khin
m nhm mc ch xc nh cc thng s cho b
iu khin m phng h thng chng sau.
Trong chng ny chng em a ra 2 phng php
iu khin l in tr l iu khin gin tip v
iu khin trc tip.
i vi phng php iu khin trc tip : xy dng
lut hp thnh , t xc nh c 13 lut iu
khin m.
Vi phng php gin tip: Nghin cu phng php
ng b m chnh nh cc thng s ca b PID
c in. La chn phng php dng b m chnh
nh thng s ca b PI vi hai gii php. Th nht gi
nguyn Ti dng b m iu khin thng s K
r
, th hai
gi nguyn K
r
dng b m chnh nh Ti. C hai ph-
ng php ny u dng 49 lut iu khin.
Th.s Nguyn Vit Ng
68
e
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Chng 4
M phng h thng iu khin m cho l
in tr trn phn mm MatLab v
WinFact
t vn
i vi ngi thit k h iu khin t ng th vic m
phng trc h thng trn mt phn mm chuyn dng no
l rt quan trng. Bi khi m phng trn phn mm ta c th
nh gi c cht lng ca h thng iu khin t ng m
ta thit k c tt hay khng thng qua vic quan st v
nh gi c tuyn u ra ca h thng. V t ta s
ng dng h iu khin ny vo thc t. Do chng em
Th.s Nguyn Vit Ng
69
Trng hspkt hng yn
Khoa in- in T n tt
nghip
la chn hai phn mm chuyn dng dng m phng
h iu khin m l MatLab v WinFact.
4.1. Khai thc v ng dng phn mm Winfact m
phng h thng iu khin m cho l in tr.
4.1.1 Gii thiu chung v phn mm winfact
Phn mm Winfact l sn phm ca vn phng k s Dr. J.
Kahler hin c B mn iu khin t ng khoa in,
HBK H Ni, l mt b cc chng trnh tr gip vic tng
hp v phn tch cc h thng m. Phn mm bao gm hai
modul chnh:
4.1.1.1 Modul fuzzy- Shell, c tn l FLOP, s dng
thit k v phn tch mt b iu khin m.
Trong ca s chnh ca chng trnh Flop, ngi s dng s
nhn c tng quan v cc lnh khai bo, sa i cc bin
ngn ng, nhng gi tr m ca bin ngn ng v cc lut
iu khin. Ca s chnh ca Flop c dng nh sau:
Th.s Nguyn Vit Ng
70
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Trong :
- Variablen dng khai bo bin mi v sa i bin, xo
bin, thay i khong, di gi tr ca bin. Mi mt bin
ngn ng c khai bo v biu din trong mt ca s ring
v khi khai bo bin trong mc ny chng ta s khai bo:
+ Tn bin ( nhiu nht l 15 k t)
+Kiu bin( bin vo hoc bin ra tng ng vi cc mnh
iu kin hay kt lun trong lut iu khin )
+ Min gi tr vt l ca bin
Th.s Nguyn Vit Ng
71
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Khi khai bo xong c cc bin vo ra th ca s Flop c
dng nh sau:
pha bn tri ca ca s th hin c tn ca cc bin vo,
ra v cc gi tr tng ng ca chng.
Th.s Nguyn Vit Ng
72
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- Sau khi khai bo c tn bin, kiu bin v min gi tr
ca bin trong menu Variablen s xut hin menu con Edit
Linguistic Variablen c dng nh sau:
Trong phn ny chng ta nh ngha kiu tp m:
+ chn tn bin ngn ng
+ chn kiu hm lin thuc
- Sau khi khai bo xong cc bin vo ra ta xy dng thit
b hp thnh bng cch vo View
Rule Base khi s xut

hin ca s sau:
Th.s Nguyn Vit Ng
73
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Trong ca s ny chng ta c th son tho lut iu khin,
sa i lut, xo mt lut iu khin, chn mt lut iu
khin, xo mt trng. Mi lut iu khin u phi c y
tt c bin ngn ng u vo trong mnh iu
kin v tt c bin ngn ng u ra trong mnh kt
lun, Weighting/% ch h s an ton ca lut , tc l
tin cy m lut s c tnh tham gia trong thit b hp
thnh.
- Nguyn tc ci t lut hp thnh v gii m
Phn mm Flop ch gii thiu hai nguyn tc c bn ci
t lut hp thnh l max-MIN v max- PROD. Chn nguyn
tc ci t bng cch vo Inference v chn Inference
mechanism and defuzzification s xut hin ca s sau:
Th.s Nguyn Vit Ng
74
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Chn nguyn tc ci t no th nh du vo nguyn tc
, cng nh vy cho nguyn tc gii m. Flop cung cp 7
nguyn tc gii m khc nhau. Kt thc vic chn nguyn l
ci t lut hp thnh bng cch n phm OK.
- Ngoi ra trong menu Inference cn c simulation xem
ng c tnh quan h truyn t c dng nh sau:
Th.s Nguyn Vit Ng
75
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- Sau khi hon tt cc th tc nh nh ngha bin ngn
ng vo ra, nh ngha cc gi tr m cho tng bin, chn
nguyn tc ci t thit b hp thnh v phng php gii
m, v nguyn tc cng vic xy dng b iu khin m
bng Modul Flop hon tt.
Quay v ca s chnh ca Flop, lc ny trn ca s chnh
ca flop l cu trc ca mt b iu khin m vi tt c cc
bin ngn ng vo ra c nh ngha ca s ny mn
hnh Flop s nh sau:
Th.s Nguyn Vit Ng
76
Trng hspkt hng yn
Khoa in- in T n tt
nghip
4.1.1.2 Modul m phng BORIS
C cu trc khi c trng cho mt khu ng hc trong h
thng iu khin t ng. Bng phn mm BORIS c th
m phng h thng iu khin t ng lin tc tuyn tnh,
h gin on h phi tuyn v h m.
Ca s chnh ca modul BORIS c dng nh sau, trong
theo chiu ngang l cc khi chc nng c th gi trc tip
vo h ang
Thit k
Th.s Nguyn Vit Ng
77
Trng hspkt hng yn
Khoa in- in T n tt
nghip
*) Th vin h thng phong ph
+ My pht tn hiu (xung tam gic, xung ch nht, hnh
sin, nhiu, cc hm kim tra)
+ Cc khu tuyn tnh tiu chun (P, I, D, PT1.)
+ Cc b iu khin tuyn tnh v phi tuyn tiu chun, b
iu khin thch nghi
Th.s Nguyn Vit Ng
78
Trng hspkt hng yn
Khoa in- in T n tt
nghip
+ Thit b hin th
+ Cc hm thng k
+ Cc mch t hp logic
Sau khi chng ta thc hin xong cc thao tc trong ca s
Flop ta vo ca s BORIS v tin hnh xy dng h thng
cn m phng ng thi thit lp cc thng s ca i tng
cng nh b iu khin dng trong h thng. Tin hnh chy
th h thng quan st c tuyn u ra v hiu chnh cc
thng s thu c c tuyn ph hp nht.
C hai modul ny ci t c trn cc loi my PC c b vi x
l t Intel 80386 tr ln v chy vi h iu hnh Windows.
4.1.2 Cc bc thc hin m phng h iu khin m.
M phng h thng iu khin m cho l in tr bng
phn mm Winfact s dng thut ton iu khin c
trnh by chng 3. V vy trong phn ny chng em ch
trnh by cc thao tc thc hin trn phn mm Winfact.
Bc 1:
nh ngha bin ngn ng v cc gi tr m
Th.s Nguyn Vit Ng
79
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Nh trnh by phn trc, min xc nh gi tr bin
ngn ng ET bin i t -24
0
C n 24
0
C, gi tr bin i
ca DET t -3 C/s n 3 C/s v tn hiu ra iu khin gc
m ca Thyristor chn trong khong 20
0
C n 100
0
C
Ca s khai bo cc bin ngn ng ET, DET,
(gc m)
v cc gi tr vt l cho n c dng sau:
Hnh 4.1a : Khai bo b iu khin
Hnh 4.1b: Khai bo b iu khin
Th.s Nguyn Vit Ng
80
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.1c: Khai bo b iu khin
Bc 2: nh ngha tp m
Trong bc ny chng ta cn thc hin cc cng vic sau:
- Chn tn bin ngn ng
- Chn kiu hm lin thuc cho tp m. Hm lin thuc mc
nh l mt tam gic cn c hai y tng ng vi im
u v im cui ca tp m l gi tr nh nht v ln nht
trong min xc nh ca bin ngn ng. C ba loi hm lin
thuc c th chn l hnh thang, hnh tam gic v
singleton.
Th.s Nguyn Vit Ng
81
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.2a: Giao din chn s bin v t di cho bin
u vo ET
Hnh 4.2b: Giao din chn s bin v t di cho bin
u vo DET
Th.s Nguyn Vit Ng
82
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.2c: Giao din chn s bin v t di cho bin u
vo GOCMO
Hnh 4.2: Giao din chn s bin v t di cho cc bin
u vo v ra.
Bc 3: Xy dng lut hp thnh
Th.s Nguyn Vit Ng
83
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.3. Xy dng lut iu khin m
Nguyn tc ci t lut hp thnh v gii m:
Phn mm FLOP ch gii thiu 2 nguyn tc c bn ci
t lut hp thnh l Max- Min v Max- Prod. Phn mm ny
cn cung cp 7 phng php gii m khc nhau. Chng em
chn gii m theo phng php trung bnh c m phng bi
ca s sau:
Hnh 4.4: la chn lut hp thnh
Nhn vo hnh di y chng ta c th thy c ng
c tnh quan h truyn t
Th.s Nguyn Vit Ng
84
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.5: Mi quan h gia cc bin u vo
v ra
Bc4 : Hon thin b iu khin m xy dng.
Sau khi hon thnh tt c cc th tc nh nh ngha
bin ngn ng vo ra, nh ngha cc gi tr m cho tng
bin, chn nguyn tc ci t thit b hp thnh v phng
php gii m, v nguyn tc vic xy dng b iu khin
m bng modul Flop hon tt.
Quay v ca s chnh ca Flop, lc ny trn ca s
chnh ca Flop l cu trc ca b iu khin m vi tt c
cc bin ngn ng vo ET, DET v bin ngn ng ra
cng
vi tt c cc gi tr m ca chng cho mt b iu khin m
c ci t theo nguyn l MAX- MIN vi gii m bng phng
php trung bnh.
Th.s Nguyn Vit Ng
85
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Ca s Flop lc nh sau:
Hnh 4.6: S khi ca b iu khin m
Bc 5: Kt qu m phng h thng iu khin m
thit k, bng Modul Boris
Cc kt qu thit k trn c kim chng li bng Modul
Boris.
S m phng h thng c m t trong hnh di y:
Th.s Nguyn Vit Ng
86
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.7: S m phng h thng
Kt qu m phng cho trng hp chn lut hp thnh Max-Min
v gii m theo phng php trung bnh.
Nhn xt:
Nhn vo c tuyn trn ta thy:
Th.s Nguyn Vit Ng
87
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- Thi gian qu t qd = 200s < 400s
- qu iu chnh
%=
y
y y
max
.100% =
6 . 0
6 . 0 7 . 0
.100%
=16.67% < 20%
- S ln p mch h thng tr v n nh l 1
- Khng c sai lch tnh
Vy h thng c cht lng tt m bo cc yu cu ca bi
ton t ra.
4.2. M phng trn MatLab
4.2.1 Gii thiu chung v phn mm MATLAB
Chng trnh MATLAB l mt chng trnh vit cho my PC
nhm h tr cho cc tnh ton khoa hc v k thut vi cc
phm t c bn l ma trn trn my tnh c nhn do cng ty
the MATHWORKS vit ra.
Thut ton MATLAB c c l do hai t MATRIX v
LABORTORY ghp li.Chng trnh ny hin ang c s
dng nhiu trong nghin cu cc vn tnh ton ca cc
bi ton k thut nh: l thuyt iu khin t ng, k thut
thng k xc sut, x l s cc tn hiu
Th.s Nguyn Vit Ng
88
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.8: Giao din thit k h m
MATLAB c iu khin bi cc tp lnh, tc ng qua bn
phm. N cng cho php mt kh nng lp trnh vi c php
thng dch lnh- cn gi l Script file. Cc lnh hay b lnh
ca MATLAB ln n s hng trm v ngy cng c m rng
bi cc phn TOOLS BOX hay thng qua cc hm ng dng -
c xy dng t ngi s dng. MATLAB c hn 25 TOOLS BOX
tr gip cho vic kho st nhng vn c lin quan
trn.TOOLS BOX SIMULINK l phn m rng ca MATLAB, s
dng m phng cc h thng ng hc mt cch nhanh
chng v tin li.
Trong n ny m phng h thng chng em s dng
phn mm FUZZY LOGIC TOOLBOX- MATLAB
B iu khin m c thit k trn c s m hnh m
Mamdani, l b iu khin m MISO.
Th.s Nguyn Vit Ng
89
Trng hspkt hng yn
Khoa in- in T n tt
nghip
M phng thut ton iu khin m n nh nhit go
nng trn phn mm MATLAB
4.2.2 Xc nh thng s ca b iu khin bng ph-
ng php ti u ln
+ Xc nh thng s ca b iu khin PI.
Xp x khu gi tr theo cng thc :
n
Ts
s
e s E
) 1 (
1
) (
+

trong
n
T

.
Chn n =1 ta c G(s) =
s
e
30 1
1
30
+

.
Hm truyn ca i tng sau khi xp x :
) 30 1 )( 500 1 (
1
) 1 )(
1
1 (
) (
s s Ts s T
k
s G
+ +
+ +
Ta s dng b PI vi thng s :
T
I
= T
1
= 500
K
p
= 333 . 8
30 . 1 . 2
500
2
1

KT
T
4.2.3 Chnh nh m b PI vi K
r
Cc bin vo ra:
Th.s Nguyn Vit Ng
90
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.9: S khi b m chnh nh K
r
Gm 2 bin u vo v 1 bin u ra.
+ Bin u vo E c di nh sau :
Th.s Nguyn Vit Ng
91
Trng hspkt hng yn
Khoa in- in T n tt
nghip
+ Bin u vo DE c di nh sau:
+ Bin u ra T
I
c di nh sau :
+ Lut hp thnh Ti :
NB S S S S S S S
NM B B S S S B B
NS B B B S B B B
ZE B B B B B B B
PS B B B S B B B
PM B B S S S B B
Th.s Nguyn Vit Ng
92
de
e
Trng hspkt hng yn
Khoa in- in T n tt
nghip
PB S S S S S S S
+ Lut m c thit lp trn phn mn MatLab:
Th.s Nguyn Vit Ng
93
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Th.s Nguyn Vit Ng
94
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.10: Bn chn lut m chnh nh K
r
+ ng c tnh quan h gia lut hp thnh v cc bin
u vo v ra trong khng gian.
Th.s Nguyn Vit Ng
95
Trng hspkt hng yn
Khoa in- in T n tt
nghip
+ c tnh ca b m sau khi t lut trn MatLab.
Th.s Nguyn Vit Ng
96
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.11: c tuyn u ra ca b m chnh nh K
r
+ S ca h thng :
Chn k =6 khng i, dng b m iu khin thay i
thng s T
i
ca b iu khin PI . T
i
bin i trong
khong [503 507].
Th.s Nguyn Vit Ng
97
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.12: S h thng dng phng php m chnh
nh K ca b PI
+ Tn hiu t l hm Step :
Hnh 4.13: Tn hiu ra ca h thng dng phng php m
chnh nh K ca b PI khi tn hiu t l Step
Th.s Nguyn Vit Ng
98
Trng hspkt hng yn
Khoa in- in T n tt
nghip
+ Tn hiu t l hm Constant = 0.6 :
chnh nh K ca b PI khi tn hiu t l hm
constants = 0.6
Nhn xt :
Khi thay i tn hiu t th tn hiu ra ca h thng
lun bm vo tn hiu t, nh vy ta t c nhit
cn t.
Thi gian qu t
qd
=260(s) < 400(s)
qu iu chnh
% =

y
y y
max
100% = 0
Khng c sai lch tnh.
Vy h thng thit k m bo yu cu ca bi ton t
ra t
qd
nh hn 400(s) v qu iu chnh nh hn
20%.
Th.s Nguyn Vit Ng
99
Trng hspkt hng yn
Khoa in- in T n tt
nghip
4.2.4.Thit k b iu khin m dng b iu
khin PI gi nguyn Ti=500 thay i K
r

Thit k lut iu khin m trn phn mn MatLab:
- Cc bin vo ra:
Hnh 4.15: S khi b m chnh nh Ti
Gm 2 bin u vo v 1 bin u ra.
+ Bin u vo E c di nh sau :
Th.s Nguyn Vit Ng
100
Trng hspkt hng yn
Khoa in- in T n tt
nghip
+ Bin u vo DE c di nh sau :
+ Bin u ra K
r
c di nh sau :
+ Lut hp thnh K
r
:
Th.s Nguyn Vit Ng
101
de
Trng hspkt hng yn
Khoa in- in T n tt
nghip
NB B B B B B B B
NM S B B B B B S
NS S S B B B S S
ZE S S S B S S S
PS S S B B B S S
PM S B B B B B S
PB B B B B B B B
+ Lut m c thit lp trn phn mm MatLab:
Th.s Nguyn Vit Ng
102
e
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Th.s Nguyn Vit Ng
103
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Th.s Nguyn Vit Ng
104
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Hnh 4.16: Bn chn lut m chnh nh Ti
+ ng c tnh quan h gia lut hp thnh v cc bin
u vo v ra trong khng gian.
Th.s Nguyn Vit Ng
105
Trng hspkt hng yn
Khoa in- in T n tt
nghip
+ c tnh ca b m sau khi t lut trn MatLab
Hnh 4.17: c tuyn u ra ca b m chnh nh Ti
+ S ca h thng :
Th.s Nguyn Vit Ng
106
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Chn Ti = 500 khng i, dng b m iu khin thay
i thng s K
r
ca b iu khin PI. K
r
bin i trong
khong
[5 6 ].
Hnh 4.18: S h thng dng phng php m chnh
nh Ti ca b PI
+ Tn hiu t l hm Step :
Th.s Nguyn Vit Ng
107
Trng hspkt hng yn
Khoa in- in T n tt
nghip
chnh nh Ti ca b PI khi tn hiu t l Step
+ Tn hiu t l hm Constans = 0.6 :
chnh nh Ti ca b PI khi tn hiu t l hm
constants = 0.6
Nhn xt:
Thi gian qu t
qd
=300(s) < 400(s).
qu iu chnh
% =
y
y y
max
100% = 0.
Khng c sai lch tnh.
Th.s Nguyn Vit Ng
108
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Vy h thng thit k m bo yu cu ca bi ton t ra
t
qd
nh hn 400(s) v qu iu chnh nh hn 20%.
4.3. nh gi cht lng ca h thng iu khin t
ng
4.3.1 L thuyt chung nh gi cht lng qu trnh
iu khin
Cht lng ca h thng iu khin t ng c nh gi
qua ch tiu n nh cht lng khc ca qu trnh qu
v qu trnh xc lp. Cc ch tiu ny bao gm: ch tiu
trng thi xc lp v ch tiu trng thi qu .
4.3.1.1. nh gi cht lng h thng trng thi xc lp.
Ch tiu cht lng ca h thng trng thi xc lp c nh
gi bng sai lch tnh l gi tr sai lch cn tn ti khi qu
trnh iu chnh kt thc.
Gi tr ny c tnh bng cng thc:
S t =
t
lim
e(t)
Trong : e(t) l sai lch ng cn tn ti trong qu trnh
iu khin.
Cht lng ca h thng cng tt nu S t cng b v ngc li
Xt h thng nh hnh:
e
(-)
Trong : W
h
(p) l hm truyn ca h thng h
Hm truyn W
h
(p) c dng tng qut:
Th.s Nguyn Vit Ng
109
W(p)
Trng hspkt hng yn
Khoa in- in T n tt
nghip
W
h
(p)= i
p
k
1 ...
1 ...
1
1
1
0
1
1 0
+ + +
+ + +

i n n
m m
p a p a
p b p b
=
) (
) (
p E
p Y
Vi i l s lng khu tch phn c trong h thng.
Hm truyn ca h kn c mch phn hi:
W
k
(p)=
1 ) (
) (
+ p W
p W
h
h
=
) (
) (
p X
p Y
Ta tnh sai lch E(p) ca h kn khi bit X(p):

E(p) =
) (
) ( 1
1
p X
p W
h
+
Sai s trng thi xc lp:
S
t
= lim pE(p) = lim p
) (
) ( 1
1
p X
p W
h
+
T y ta thy sai lch tnh S
t
ph thuc vo tn hiu vo
X(p) v cu trc ca h thng (biu th qua hm truyn t
W
h
(p)).
4.3.1.2. Ch tiu cht lng ca h thng trng thi
qu
Ch tiu cht lng ca h thng trng thi qu c nh
gi bng hai ch tiu cht lng c bn sau:
Ch tiu trc tip: Qu trnh qu ca iu chnh c
nh gi trc tip bng hao ch tiu cht lng c bn l thi
gian ko di iu chnh v tnh dao ng ca iu
chnh, cc ch tiu c bn ny do yu cu cht lng ca quy
trnh cng ngh t ra.
+ Thi gian qu t
qu
l khong thi gian k t thi im
bt u c tc ng nhiu cho ti khi sai lch qu trnh
iu khin nm trong gii hn sai s cho php
c gi l
Th.s Nguyn Vit Ng
110
Trng hspkt hng yn
Khoa in- in T n tt
nghip
thi gian qu . Thi gian qu ph thuc chnh xc
ca qu trnh iu khin.
+ qu iu chnh
%: c trng cho tnh cht dao ng

ca qu trnh iu chnh, n l sai lch cc i trong qu
trnh qu so vi tr s xc lp tnh theo phn trm.
Nu tnh theo nhiu t trc:

% =

Y
Y Y max
100%
Nu tnh theo nhiu ph ti:

%=
1
2
e
e
100%
+ s ln dao ng n: xung quanh gi tr cn bng
Cc ch tiu do yu cu cng ngh t ra. Hai ch tiu
trn ngc nhau, nh th t quado ln v ngc li. Gi tr ca n
thng thng i hi <3 v m bo bo ti u tc ng
nhanh v hn ch gi tr tng vt ca thng s iu khin
nn qu iu chnh t 20%- 30%
ch tiu gin tip: dng cc phng php nh tch phn, phng
php phn b nghim s ca phng trnh c tnh.
4.3.2. nh gi cht lng h thng iu khin l in
tr
4.3.2.1. nh gi cht lng h thng iu khin l in
tr trc tip bng b iu khin m.
Th.s Nguyn Vit Ng
111
Trng hspkt hng yn
Khoa in- in T n tt
nghip
T c tuyn u ra ca h thng ta thy:
- Thi gian qu t s = 200s
- qu iu chnh
y
y y
max
%
100% =
6 . 0
6 . 0 7 . 0
100%=
16.67%
- S ln p mch h thng tr v n nh l 1
- Khng c sai lch tnh
Vy h thng c cht lng tt m bo cc yu cu ca mt
h thng i khin t ng. Tuy nhin phng php ny c
nhc im l ch m phng c trn phn mm Winfact.
4.3.2.2. nh gi cht lng h thng iu khin l in
tr gin tip dng b iu khin m chnh nh
cc thng s ca b PI.
Th.s Nguyn Vit Ng
112
Trng hspkt hng yn
Khoa in- in T n tt
nghip
a) Gi nguyn K
R
thay i Ti
T ng c tuyn u ra ta thy khi thay i tn
hiu t th tn hiu ra ca h thng lun bm vo tn
hiu t. Do vy ta c th t bt k mt gi tr u
vo no th u ra lun bm theo tn hiu t.
Thi gian qu t
qd
=260(s).
qu iu chnh
% = 0.
Khng c sai lch tnh.
Vy s dng phng php thit k ny khng nhng cho
cht lng ca h thng tt, m cn c th thay i c
khong u ra cho b iu khin m (thay i khong
gi tr ca Ti). Do khi khng xc nh c mt cch
chnh xc hm truyn ca i tng ta cng c th iu
khin n trong mt phm vi cho php. V vy h thng c
Th.s Nguyn Vit Ng
113
Trng hspkt hng yn
Khoa in- in T n tt
nghip
th iu khin vi rt nhiu i tng. y l u im ln
nht ca b iu khin hin i so vi b iu khin kinh
in.

b) Gi nguyn Ti thay i K
R
Thi gian qu t
qd
=300(s).
qu iu chnh
% = 0.
Khng c sai lch tnh.
Vy s dng phng php thit k ny khng nhng cho cht
lng ca h thng tt, m cn c th thay i c khong
Th.s Nguyn Vit Ng
114
Trng hspkt hng yn
Khoa in- in T n tt
nghip
u ra cho b iu khin m (thay i khong gi tr ca
K
R
). Do khi khng xc nh c mt cch chnh xc hm
truyn ca i tng ta cng c th iu khin n trong mt
phm vi cho php. V vy h thng c th iu khin vi rt
nhiu i tng. y l u im ln nht ca b iu khin
hin i so vi b iu khin kinh in.
* Kt lun chng 4
Chng 4 chng em thc hin c nhng cng vic
sau;
- Nghin cu phn mm WinFact 7.0
+ Cc khi hm chc nng, cng c ca phn mm
+ Giao din thit k b iu khin m
+ Giao din thit k mt h thng t ng
- Thit k h thng iu khin l in tr bng ph-
ng php trc tip trn phn mn WinFact.
- Nghin cu cch s dng phn mn MatLab 7.5
thit k h thng iu khin m.
+ Giao din thit k h thng iu khin t ng
dng b iu khin m.
- Thit k h thng iu khin nhit ca l in
tr dng b iu khin m chnh nh Kr, Ti ca b
PI trn phn mm MatLab 7.5.
- nh gi cht lng ca 3 h thng thit k theo
cc ch tiu cht lng ca mt h thng t ng cn
phi m bo v theo yu cu h thng m gio vin
hng dn cho trc.
Th.s Nguyn Vit Ng
115
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- Kt qu trn khng nh tnh ng n ca
thut ton tng hp b iu khin m trnh by
chng 1, ng thi cho thy tnh u vit ca h iu
khin m trong vic iu khin cc i tng.

Chng 5
Kt lun v khuyn ngh
5.1 Kt lun
Sau gn 5 thng lm vic nghim tc vi s n lc ca bn
thn di s gip tn tnh ca cc thy c gio trong b
mn in- Trng HSPKT Hng Yn v cc thy c gio trong b
mn iu khin t ng trng HBK H Ni. c bit l c
gio hng dn Th.s L Th Minh Tm v thy gio Th.s
Nguyn Vit Ng ngi hng dn chng em hon thnh
Th.s Nguyn Vit Ng
116
Trng hspkt hng yn
Khoa in- in T n tt
nghip
n ny. n tt nghip ny thc hin c nhng nhim
v t ra, l:
1. Tng quan l thuyt iu khin m
Trong chng ny chng em cp n nhng vn
sau:
- Lch s pht trin l thuyt m.
- B iu khin m v u im ca n.
- Mt s khi nim c bn: khi nim v tp m, cao,
min xc nh v min tin cy ca tp m.
- Cc php ton trn tp m: hp hai tp m, bin ngn ng.
- Lut hp thnh.
- Cc phng php gii m: phng php cc i, phng php
trng tm.
- Cc khu iu khin m.
ng thi trong chng ny chng em trnh by cc phng
php ton hc tng hp v phn tch mt h thng
tng hp m cung cp cho bn c nhng kin thc c bn
nht c kh nng t tng hp b iu khin m n
gin.
2. c im cng ngh ca l in tr
Trong chng 2 chng em thc hin c mt s cng vic
sau:
- M t c m hnh l sy.
- Phn loi l in tr.
- Nu c u im ca l in tr.
- Nhn dng i tng.
Th.s Nguyn Vit Ng
117
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Qua ta nhn thy l in tr c tnh phi tuyn cao v c
qun tnh ln v vy iu khin c nhit ca l
mt cch chnh xc th vic nghin cu c im ca l l
mt vic lm ht sc quan trng n gip ch rt nhiu trong
vic thit lp lut m cho b iu khin. T ng c
tuyn ng hc cho sn chng em tnh ton cc thng
s ca i tng, t xc nh c hm truyn ca i t-
ng l in tr gip ch cho vic m phng h thng iu
khin m cho l in tr chng sau.
3. Thit k b iu khin m
Trong chng 3 chng em i thit k b iu khin m
nhm mc ch xc nh cc thng s cho b iu khin
m phng h thng chng sau. Trong chng ny
chng em a ra 2 phng php iu khin l in
tr l iu khin gin tip v iu khin trc tip. i
vi phng php iu khin trc tip c m phng trn phn
mm Winfact cn phng php iu khin gin tip c m
phng trn phn mm Matlab
4. M phng h thng iu khin m cho l in tr
trn phn mm MatLab v WinFact
- Nghin cu phn mm WinFact 7.0
+ Cc khi hm chc nng, cng c ca phn mn
+ Giao din thit k mt h thng t ng
- Thit k h thng iu khin l in tr bng phng
php trc tip trn phn mn WinFact.
Th.s Nguyn Vit Ng
118
Trng hspkt hng yn
Khoa in- in T n tt
nghip
- Nghin cu cch s dng phn mn MatLab 7.5 thit k
h thng iu khin m.
+ Giao din thit k h thng iu khin t ng dng b
iu khin m.
- Thit k h thng iu khin nhit ca l in tr
dng b iu khin m chnh nh Kr, Ti ca b PI trn
phn mm MatLab 7.5.
- nh gi cht lng ca 3 h thng thit k theo cc ch
tiu cht lng ca mt h thng t ng cn phi m bo
v theo yu cu h thng m gio vin hng dn cho trc.
- Kt qu trn khng nh tnh ng n ca thut
ton tng hp b iu khin m trnh by chng 1,
ng thi cho thy tnh u vit ca h iu khin m trong
vic iu khin cc i tng.
Tuy nhin do kin thc, kinh nghim cn hn ch v thi gian
c hn nn bn n ny khng trnh khi nhng thiu st
v hn ch. V vy chng em rt mong c s ng v
ch bo ca cc thy c gio bn n ny c hon
thin hn.
Vi lng knh trng v bit n su sc chng em xin cm
n cc thy c gio trong b mn in- Trng HSPKT Hng
Yn v cc thy c trong b mn KT Trng HBK H Ni.
c bit l c gio Th.s L Th Minh Tm v thy gio
Th.s Nguyn Vit Ng, ngi hng dn em hon thnh bn
n ny.
5.2 Khuyn ngh
Th.s Nguyn Vit Ng
119
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Vi vic nghin cu cch s dng phn mm Winfact chng
em hy vng phn mm ny s c a vo ng dng m
phng thit k v m phng mt s h iu khin t ng
v h tr cho vic ging dy mn iu khin t ng Trng
HSPKT Hng Yn.
Cun n ny s l ti liu tham kho cho cc sinh vin
nghin cu l thuyt iu khin m v xy dng mt h
thng iu khin m trong thc t cng nh vic ng dng
kt qu nghin cu ny lp trnh cho b kh lp trnh
PLC to ra nhng h thng iu khin m theo yu cu
th trng. Ngoi ra n cng l ti liu dng tham kho s
dng ging dy mn l thuyt iu khin nng cao
trong cc trng cao ng v i hc.
Ti liu tham kho
[1] L thuyt iu khin m - Phan Xun Minh,
Nguyn Don Phc - NXB KHKT 1997
[2] L thuyt iu khin - Phm Cng Ng - NXB KHKT
1994
[3] H m v ng dng Nguyn Hong Phng, Bi
Cng Cng, Nguyn Don Phc, Phan Xun Minh, Chu Vn H
NXB Khoa hc v K thut 1998
[4] K thut bin i V Quang Lp, Trn Xun Minh
- i Hc KTCN Thi Nguyn 1998
[5] Vn ng dng iu khin m trong iu khin
truyn ng in Nguyn Trng Thun, V Vn H -
Th.s Nguyn Vit Ng
120
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Thng bo khoa hc cc trng i hc Chuyn san in- in
t- T ng ho - 1995
[6] Fuzzy Logic - A Practical Approach F. Marti, Meneill
and Ellen Thro Acdemic Press 1994
[7] Fuzzy Control An Overview Vieweg Verlag 1994
[8] Fuzzy Logic Technology & Applications R.J.Marks II
IEEE 1994
[9] An Application of Fuzzy Logic to Posotion Regulator of
D.C Servo Systems Nguyen Trong Thuan, Nguyen Van Thang
Industrial Automation Fac. Hanoi University of Technology
Vietnam Japan
Bilateral Symposium on Fuzzy Systems And Application-
VJFuzzy98
1998.
Th.s Nguyn Vit Ng
121
Trng hspkt hng yn
Khoa in- in T n tt
nghip
Th.s Nguyn Vit Ng
122

Thuyetminhdoantotnghiep

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Thuyetminhdoantotnghiep

Uploaded by

Copyright:

Available Formats

Trng hspkt hng yn

B khng c mu thun vi php hp ca 2 tp

B cng xc nh trn nn X c hm thuc

(x), tc l c tnh giao hon

1.3.1.4 . Bin ngn ng v gi tr ca n

(y) ca mnh hp thnh A

Lut hp thnh l tn chung gi m hnh R biu din mt

(y) thu c theo quy

Ging vin hng dn: Th.s L Th Minh Tm

(x,y) = Max' A (x,y), B (x,y))

chn trong khong 20

{NB, NM, ZE, PS, PM, PB}

{ NB, NM, ZE, PS, PM, PB}

{ NB, NM, ZE, PS, PM, PB}

Trng hspkt hng yn

Nh vy b chnh nh m s c hai u vo la e(t), de(t)/dt

Rule Base khi s xut

%: c trng cho tnh cht dao ng

You might also like