Dieu Khien Mo

Chng 4 : iu khin m
Chng 4
IU KHIN M
Khi nim v logic m c gio s L.A Zadeh a ra ln u tin nm
1965, ti trng i hc Berkeley, bang California - M. T l thuyt
m c pht trin v ng dng rng ri.
Nm 1970 ti trng Mary Queen, London Anh, Ebrahim Mamdani
dng logic m iu khin mt my hi nc m ng khng th iu khin
c bng k thut c in. Ti c Hann Zimmermann dng logic m
cho cc h ra quyt nh. Ti Nht logic m c ng dng vo nh my x
l nc ca Fuji Electronic vo 1983, h thng xe in ngm ca Hitachi
vo 1987.
L thuyt m ra i M, ng dng u tin Anh nhng pht trin mnh
m nht l Nht. Trong lnh vc T ng ho logic m ngy cng c
ng dng rng ri. N thc s hu dng vi cc i tng phc tp m ta
cha bit r hm truyn, logic m c th gii quyt cc vn m iu
khin kinh in khng lm c.
4.1. Khi nim c bn

hiu r khi nim M l g ta hy thc hin php so snh sau :
Trong ton hc ph thng ta hc kh nhiu v tp hp, v d nh tp cc
s thc R, tp cc s nguyn t P={2,3,5,...} Nhng tp hp nh vy c
gi l tp hp kinh in hay tp r, tnh R y c hiu l vi mt
tp xc nh S cha n phn t th ng vi phn t x ta xc nh c mt gi
tr y=S(x).
Gi ta xt pht biu thng thng v tc mt chic xe mt : chm,
trung bnh, hi nhanh, rt nhanh. Pht biu CHM y khng c ch
r l bao nhiu km/h, nh vy t CHM c min gi tr l mt khong
no , v d 5km/h 20km/h chng hn. Tp hp L={chm, trung bnh, hi
nhanh, rt nhanh} nh vy c gi l mt tp cc bin ngn ng. Vi mi
thnh phn ngn ng xk ca pht biu trn nu n nhn c mt kh nng
(xk) th tp hp F gm cc cp (x, (xk)) c gi l tp m.
4.1.1. nh ngha tp m
Tp m F xc nh trn tp kinh in B l mt tp m mi phn t ca n l
mt cp gi tr (x,F(x)), vi x X v F(x) l mt nh x :
Hc k 1 nm hc 2005-2006
PGS.TS Nguyn Th Phng H
F(x) : B [0 1]
trong : F gi l hm thuc , B gi l tp nn.
4.1.2. Cc thut ng trong logic m
min tin cy
MX
Hnh 4.1:
cao tp m F l gi tr h = SupF(x), trong supF(x) ch gi tr nh
nht trong tt c cc chn trn ca hm F(x).
Min xc nh ca tp m F, k hiu l S l tp con tho mn :
S = SuppF(x) = { xB | F(x) > 0 }
Min tin cy ca tp m F, k hiu l T l tp con tho mn :
T = { xB | F(x) = 1 }
Cc dng hm thuc (membership function) trong logic m
C rt nhiu dng hm thuc nh : Gaussian, PI-shape, S-shape, Sigmoidal,
Z-shape
trapmf
gbellmf
trimf
gaussmf
gauss2mf
smf
1
0.8
0.6
0.4
0.2
0
zmf
psigmf
dsigmf
pimf
1
0.8
0.6
0.4
0.2
0
http://www.khvt.com
sigmf
Chng 4 : iu khin m
4.1.3. Bin ngn ng
Bin ngn ng l phn t ch o trong cc h thng dng logic m. y
cc thnh phn ngn ng ca cng mt ng cnh c kt hp li vi nhau.
minh ho v hm thuc v bin ngn ng ta xt v d sau :
Xt tc ca mt chic xe mt, ta c th pht biu xe ang chy:
- Rt chm
- Chm
- Trung bnh
- Nhanh
- Rt nhanh
(VS)
(S)
(M)
(F)
(VF)
Nhng pht biu nh vy gi l bin ngn ng ca tp m. Gi x l gi tr

ca bin tc , v d x =10km/h, x = 60km/h Hm thuc tng ng ca
cc bin ngn ng trn c k hiu l :
VS(x), S(x), M(x), F(x), VF(x)
VS
VF
0.75
0.25
0
20
40
60 65 80
Hnh 4.2:
100
tc
Nh vy bin tc c hai min gi tr :

- Min cc gi tr ngn ng :
N = { rt chm, chm, trung bnh, nhanh, rt nhanh }
- Min cc gi tr vt l :
V = { xB | x 0 }
Bin tc c xc nh trn min ngn ng N c gi l bin ngn ng.
Vi mi xB ta c hm thuc :
x X = { VS(x), S(x), M(x), F(x), VF(x) }
V d hm thuc ti gi tr r x=65km/h l :
X(65) = { 0;0;0.75;0.25;0 }
Trang 3

4.1.4. Cc php ton trn tp m
Cho X,Y l hai tp m trn khng gian nn B, c cc hm thuc tng ng
l X, Y , khi :
- Php hp hai tp m :
+ Theo lut Max
XY
XY(b) = Max{ X(b) , Y(b) }
+ Theo lut Sum
XY(b) = Min{ 1, X(b) + Y(b) }
+ Tng trc tip
XY(b) = X(b) + Y(b) - X(b).Y(b)
- Php giao hai tp m : XY

+ Theo lut Min
XY(b) = Min{ X(b) , Y(b) }
+ Theo lut Lukasiewicz XY(b) = Max{0, X(b)+Y(b)-1}
+ Theo lut Prod
XY(b) = X(b).Y(b)
- Php b tp m :
X (b) = 1- X(b)
c
4.1.5. Lut hp thnh

1. Mnh hp thnh
V d iu khin mc nc trong bn cha, ta quan tm n 2 yu t :
+ Mc nc trong bn L = {rt thp, thp, va}
+ Gc m van ng dn G = {ng, nh, ln}
Ta c th suy din cch thc iu khin nh th ny :
Nu mc nc = rt thp Th gc m van = ln
Nu mc nc = thp
Th gc m van = nh
Nu mc nc = va
Th gc m van = ng
Trong v d trn ta thy c cu trc chung l Nu A th B . Cu trc ny
gi l mnh hp thnh, A l mnh iu kin, C = AB l mnh kt
lun.
nh l Mamdani :
ph thuc ca kt lun khng c ln hn ph thuc iu kin
Nu h thng c nhiu u vo v nhiu u ra th mnh suy din c
dng tng qut nh sau :
If N = ni and M = mi and Then R = ri and K = ki and .
2. Lut hp thnh m
Lut hp thnh l tn gi chung ca m hnh biu din mt hay nhiu hm
thuc cho mt hay nhiu mnh hp thnh.
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Chng 4 : iu khin m
Cc lut hp thnh c bn
+ Lut
+ Lut
+ Lut
+ Lut
Max Min
Max Prod
Sum Min
Sum Prod
a. Thut ton xy dng mnh hp thnh cho h SISO

Lut m cho h SISO c dng If A Then B
Chia hm thuc A(x) thnh n im xi ,
i = 1,2,,n
Chia hm thuc B(y) thnh m im yj , j = 1,2,,m

Xy dng ma trn quan h m R
R ( x1, y1)
( x 2, y1)
R= R
...
R ( xn, y1)
R ( x1, ym) r11 ... ... r1m

... ... R ( x 2, ym) r 21 ... ... r 2m
=
... ...
... ... ... ...

... ... R ( xn, ym) rn1 ... ... rnm

... ...
...
Hm thuc B(y) u ra ng vi gi tr r u vo xk c gi tr
B(y) = aT.R , vi aT = { 0,0,0,,0,1,0.,0,0 }. S 1 ng vi v tr th k.

Trong trng hp u vo l gi tr m A th B(y) l :
B(y) = { l1,l2,l3,,lm } vi lk=maxmin{ai,rik }.

b. Thut ton xy dng mnh hp thnh cho h MISO
Lut m cho h MISO c dng :
If cd1 = A1 and cd2 = A2 and Then rs = B
Cc bc xy dng lut hp thnh R :
Ri rc cc hm thuc A1(x1), A2(x2), , An(xn), B(y)
Xc nh tho mn H cho tng vct gi tr r u vo x={c1,c2,,cn}
trong ci l mt trong cc im mu ca Ai(xi). T suy ra
H = Min{ A1(c1), A2(c2), , An(cn) }
Lp ma trn R gm cc hm thuc gi tr m u ra cho tng vct gi tr
m u vo: B(y) = Min{ H, B(y) } hoc B(y) = H. B(y)
Trang 5

4.1.6. Gii m
Gii m l qu trnh xc nh gi tr r u ra t hm thuc B(y) ca
tp m B. C 2 phng php gii m :
1. Phng php cc i
Cc bc thc hin :
- Xc nh min cha gi tr y, y l gi tr m ti B(y) t Max
G = { yY | B(y) = H }
- Xc nh y theo mt trong 3 cch sau :
+ Nguyn l trung bnh
+ Nguyn l cn tri
+ Nguyn l cn phi
y
y1
y2
Hnh 4.3:
y1 + y 2
2
: chn y = y1
: chn y = y2
Nguyn l trung bnh : y =
Nguyn l cn tri
Nguyn l cn phi
2. Phng php trng tm

im y c xc nh l honh ca im trng tm min c bao bi
trc honh v ng B(y).
Cng thc xc nh :
y =
y ( y)dy
S
(y)dy
trong S l min xc nh ca tp m B
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Chng 4 : iu khin m
Phng php trng tm cho lut Sum-Min

Gi s c m lut iu khin c trin khai, k hiu cc gi tr m u ra
ca lut iu khin th k l Bk(y) th vi quy tc Sum-Min hm thuc s l
B(y) =
k =1
y =
B 'k
( y ) , v y c xc nh :
m
B 'k ( y ) dy
S y
k =1
S k =1
trong Mi =
B 'k
B 'k
( y )dy
( y )dy v
( y B 'k ( y)dy )
k =1
B ' y ( y )dy
k =1 S
M
k =1
m
Ai = B 'k ( y )dy
(4.1)
A
k =1
i=1,2,,m
H
m1
m2
Xt ring cho trng hp cc hm thuc dng hnh thang nh hnh trn :

Mk =
H
(3m22 3m12 + b 2 a 2 + 3m2 b + 3m1 a)
6
Ak =
H
(2m2 2m1 + a + b)
2
Ch hai cng thc trn c th p dng c cho lut Max-Min
Phng php cao

T cng thc (4.1), nu cc hm thuc c dng Singleton th ta c:
m
y =
y
k =1
m
Hk
H
k =1
vi Hk = Bk(yk)
y l cng thc gii m theo phng php cao.
Trang 7

4.1.7. M hnh m Tagaki-Sugeno
M hnh m m ta ni n trong cc phn trc l m hnh Mamdani. u

im ca m hnh Mamdani l n gin, d thc hin nhng kh nng m t
h thng khng tt. Trong k thut iu khin ngi ta thng s dng m
hnh m Tagaki-Sugeno (TS).
Tagaki-Sugeno a ra m hnh m s dng c khng gian trng thi m ln
m t linh hot h thng. Theo Tagaki/Sugeno th mt vng m LXk c
m t bi lut :
Rsk : If x = LXk Then x = A( x k ) x + B( x k )u
(4.2)
Lut ny c ngha l: nu vct trng thi x nm trong vng LXk th h thng

c m t bi phng trnh vi phn cc b x = A( x k ) x + B( x k )u . Nu
ton b cc lut ca h thng c xy dng th c th m t ton b trng
thi ca h trong ton cc. Trong (4.2) ma trn A(xk) v B(xk) l nhng ma
trn hng ca h thng trng tm ca min LXk c xc nh t cc
chng trnh nhn dng. T rt ra c :
x = wk ( A( x k ) x + B ( x k )u )
(4.3)
vi wk(x) [0 , 1] l tho mn chun ho ca x* i vi vng m LXk

Lut iu khin tng ng vi (4.2) s l :
Rck : If x = LXk Then u = K(xk)x
V lut iu khin cho ton b khng gian trng thi c dng:
N
u = wk K ( x k ) x
(4.4)
k =1
T (4.2) v (4.3) ta c phng trnh ng hc cho h kn:

x = w k ( x) wl ( x)( A( x k ) + B( x k ) K ( x l )) x
V d : Mt h TS gm hai lut iu khin vi hai u vo x1,x2 v u ra y.
R1 : If x1 = BIG
and x2 = MEDIUM Then y1 = x1-3x2
R2 : If x1 = SMALL and x2 = BIG
Then y2 = 4+2x1
u vo r o c l x1* = 4 v x2* = 60. T hnh bn di ta xc nh

c :
LXBIG(x1*) = 0.3
v LXBIG(x2*) = 0.35
LXSMALL(x1*) = 0.7 v LXMEDIUM(x2*) = 0.75
http://www.khvt.com
Chng 4 : iu khin m
T xc nh c :
Min(0.3 ; 0.75)=0.3 v Min(0.35 ; 0.7)=0.35
y1 = 4-360 = -176 v y2 = 4+24 = 12
Nh vy hai thnh phn R1 v R2 l (0.3 ; -176) v (0.35 ; 12). Theo phng
php tng trng s trung bnh ta c:
y=
0.3 (176) + 0.35 12

= 74.77
0.3 + 0.35
1
0.75
1
0.7
0.35
0.3
0 4
10
60
100
4.2. B iu khin m
4.2.1. Cu trc mt b iu khin m
Mt b iu khin m gm 3 khu c bn:

+ Khu m ho
+ Thc hin lut hp thnh
+ Khu gii m
Xt b iu khin m MISO sau, vi vct u vo X = [u1
u2
... u n ]
R1 If Then
H1
y
X
Rn If Then
Hn
Hnh 4.4:
Trang 9

4.2.2. Nguyn l iu khin m
lut iu khin
Giao din
u vo
Thit b
hp thnh
BK M
Giao din
u ra
I TNG
THIT B O
Hnh 4.5:
Cc bc thit k h thng iu khin m.
+ Giao din u vo gm cc khu: m ha v cc khu hiu chnh nh
t l, tch phn, vi phn
+ Thip b hp thnh : s trin khai lut hp thnh R
+ Giao din u ra gm : khu gii m v cc khu giao din trc tip
vi i tng.
4.2.3. Thit k b iu khin m
Cc bc thit k:
B1 : nh ngha tt c cc bin ngn ng vo/ra.
B2 : Xc nh cc tp m cho tng bin vo/ra (m ho).
+ Min gi tr vt l ca cc bin ngn ng.
+ S lng tp m.
+ Xc nh hm thuc.
+ Ri rc ho tp m.
B3 : Xy dng lut hp thnh.
B4 : Chn thit b hp thnh.
B5 : Gii m v ti u ho.
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Chng 4 : iu khin m
Nhng lu khi thit k BK m
- Khng bao gi dng iu khin m gii quyt bi ton m c th d
dng thc hin bng b iu khin kinh in.
- Khng nn dng BK m cho cc h thng cn an ton cao.
- Thit k BK m phi c thc hin qua thc nghim.
Phn loi cc BK m
i. iu khin Mamdani
(MCFC)
ii. iu khin m trt
(SMFC)
iii. iu khin tra bng
(CMFC)
iv. iu khin Tagaki/Sugeno (TSFC)

4.2.4. V d ng dng
Dng iu khin m iu khin h thng bm x nc t ng. H thng

s duy tr cao bn nc mt gi tr t trc nh m hnh bn di.
M hnh :
Ba b iu khin m (control) s iu khin : bm, van1, van2 sao cho mc

nc 2 bn t gi tr t trc (set).
S simulink:
Trang 11
S khi iu khin:
http://www.khvt.com
Chng 4 : iu khin m
Thit lp h thng iu khin m :

Xc nh cc ng vo/ra :
+ C 4 ng vo gm : sai lch e1, e2; o hm sai lch de1, de2
+ C 3 ng ra gm : control1, control2, control3
Xc nh bin ngn ng :
Sai lch
E = {m ln, m nh, bng khng, dng nh, dng ln}

E = {NB, NM, ZR, PM, PB}
o hm D = {gim nhanh, gim va, khng i, tng va, tng nhanh}
D = {DF, DM, ZR, IM, IP}
iu khin C = {ng nhanh,ng chm,khng i,m chm,m nhanh}
C = {CF, CS, NC, OS, OF}
Lut iu khin :
+ Khi controller1 v controller2 :
(Hai khi ny ch khc nhau lut hp thnh)
Trang 13
Lut hp thnh m Max Min

DE
ERROR
NB
NM
ZR
PM
PB
DE
ERROR
NB
NM
ZR
PM
PB
DB
OF
OF
NC
DB
CF
CF
NC
Khi controller1
DM ZR
IM
OF
OS
OS
NC
CS
CS
CF
Khi controller2
DM ZR
IM
CF
CS
CS
NC
OS
OS
OF
IB
NC
CF
CF
IB
NC
OF
OF
+ Khi control3
y l khi iu tit lu lng cho bn 2, ta a ra mc u tin nh sau :

Khi sai lch bn 1 ln th van2 s iu tit sai lch ny nh ri mi n
bn 2.
If
If
If
If
error1=NB and de1=DB

error1=NB and de1=DM
error1=NB and de1=ZR
error1=NM and de1=DB
Then control=CF
Then control=CS
Then control=CS
Then control=CS
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Chng 4 : iu khin m
If
If
If
If
If
If
If
If
If
If
If
error1=PB and de1=IB Then control=OF

error1=PB and de1=IM Then control=OF
error1=PB and de1=ZR Then control=OF
error1=PM and de1=IB Then control= OF
error1NB and error2=NB and de1DB and de2=DB Then control=OF
error1NB and error2=NB and de1DB and de2=DM Then control=OF
error1NB and error2=NB and de1DB and de2=ZR Then control=OF
error1NB and error2=NM and de1DB and de2=DB Then control=OS
error1NB and error2=NM and de1DB and de2=DM Then control=OS
error1PB and error2=PB and de1IB and de2=IB Then control=CF
error1PB and error2=PB and de1IM and de2=IB Then control=CS
Kt qu p ng vi cc thng s h thng :
- Chiu cap bn
height=1m
- Din tch y
area = 0.125m2
- Lu lng max
pump maxflow = 1lit/s
- Din tch ng dn
pipe area = 0.001m2
mc nc t Zdat=[0.5 0.3]
mc nc ban u Zinit=[0
0]
z (m)
thi gian (s)
Trang 15

mc nc t Zdat=[0.5 0.4]
mc nc ban u Zinit=[0.8
0]
z (m)
thi gian (s)
4.3. Thit k PID m

C th ni trong lnh vc iu khin, b PID c xem nh mt gii php
a nng cho cc ng dng iu khin Analog cng nh Digital. Vic thit k
b PID kinh in thng da trn phng php Zeigler-Nichols, Offerein,
Reinish Ngy nay ngi ta thng dng k thut hiu chnh PID mm
(da trn phm mm), y chnh l c s ca thit k PID m hay PID thch
nghi.
4.3.1. S iu khin s dng PID m :
Hnh 4.6:
http://www.khvt.com
Chng 4 : iu khin m
B CHNH
NH M
de
dt
THIT B
CHNH NH
BK PID
I TNG
M hnh ton ca b PID:

t
u(t) = Kpe(t) + K I e( x)dx + K D de(t )

dt
0
GPID(s) = K P +
KI
+ KDs
s
Cc tham s KP, KI, KD c chnh nh theo tng b iu khin m ring

bit da trn sai lch e(t) v o hm de(t). C nhiu phng php khc
nhau chnh nh b PID ( xem cc phn sau) nh l da trn phim hm
mc tiu, chnh nh trc tip, chnh nh theo Zhao, Tomizuka v Isaka
Nguyn tc chung l bt u vi cc tr KP, KI, KD theo Zeigler-Nichols, sau
da vo p ng v thay i dn tm ra hng chnh nh thch hp.
4.3.2. Lut chnh nh PID:
Tn hiu ra
t
b1
c1
d1
a2
b2
Hnh 4.7
a1
thi gian
+ Ln cn a1 ta cn lut K mnh rt ngn thi gian ln, do vy chn: KP

ln, KD nh v KI nh.
Trang 17

+ Ln cn b1 ta trnh vt l ln nn chn: KP nh, KD ln, KI nh.
+ Ln cn c1 v d1 ging nh ln cn a1 v b1.
4.3.3. V d ng dng Matlab
Xy dng b PID m iu khin l nhit. Hm truyn l nhit theo

Ke Ts
K
Zeigler-Nichols : G(s) =
.
, tuyn tnh ho G(s)=
Ls + 1
(Ts + 1)( Ls + 1)
Cc bc thit k :
1. Xc nh bin ngn ng:

u vo : 2 bin
+ Sai lch
ET = o - t
+ Tc tng DET =
ET (i + 1) E (i )
, vi T l chu k ly mu.
T
u ra : 3 bin
+ KP h s t l
+ KI h s tch phn
+ KD h s vi phn
S lng bin ngn ng
ET = {m nhiu, m va, m t, zero, dng t, dng va, dng nhiu}
ET = { N3, N2, N1, ZE, P1, P2, P3 }
DET = { m nhiu, m va, m t, zero, dng t, dng va, dng nhiu}
DET = { N31, N21, N11, ZE1, P11, P21, P31 }
KP/KD = { zero, nh, trung bnh, ln, rt ln } = {Z, S, M, L,U}
KI
= {mc 1,mc 2,mc 3,mc 4, mc 5} = {L1,L2,L3,L4,L5}
N3
N2 N1 ZE P1 P2
P3
ET
-12
-8
-4
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12
Chng 4 : iu khin m
N31
N21 N11 ZE1 P11 P21
P31
DET
0
-0.6 -0.4 -0.2 0 0.2 0.4 0.6
C/s
Z S
KD
0 0.25 0.5 0.75 1
KP
L1 L2 L3 L4 L5
1.2 1.4 1.6 1.8
KI
2. Lut hp thnh:
C tng cng l 7x7x3=147 lut IF THEN
Lut chnh nh KP
Trang 19
KP
ET
DET
N3
N2
N1
ZE
P1
P2
P3
N31
U
L
M
Z
M
L
U
N21
U
L
M
Z
M
L
U
N11
U
L
M
Z
M
L
U
ZE1
U
L
M
Z
M
L
U
P11
U
L
M
Z
M
L
U
P21
U
L
M
Z
M
L
U
P31
U
L
M
Z
M
L
U
P11
U
M
M
Z
M
M
U
P21
U
L
M
Z
M
L
U
P31
U
L
M
Z
M
L
U
P21
L1
L2
L3
L4
L3
L2
L1
P31
L1
L3
L4
L5
L4
L3
L1
Lut chnh nh KD:
KD
ET
DET
N3
N2
N1
ZE
P1
P2
P3
N31
U
L
M
Z
M
L
U
N21
U
L
M
Z
M
L
U
N11
U
M
M
Z
M
M
U
ZE1
U
M
M
Z
M
M
U
Lut chnh nh KI:
KI
ET
DET
N3
N2
N1
ZE
P1
P2
P3
N31
L1
L3
L4
L5
L4
L3
L1
N21
L1
L2
L3
L4
L3
L2
L1
N11
L1
L2
L2
L3
L2
L2
L1
ZE1
L1
L1
L1
L2
L1
L1
L1
http://www.khvt.com
P11
L1
L2
L2
L3
L2
L2
L1
Chng 4 : iu khin m
Biu din lut chnh nh KP trong khng gian
3. Chn lut v gii m

+ Chn lut hp thnh theo quy tc Max-Min
+ Gii m theo phng php trng tm.
4. Kt qu m phng
Vi cc thng s : K=1; T=60; L=720
T y theo Zeigler-Nichols ta tm ra c b ba thng s {KP, KI, KD }
th di y s cho ta thy s khc bit ca iu khin m so vi iu
khin kinh in.
Tham s theo
Zeigler-Nichols
T (0C)
Tham s
PID m
t (s)
Trang 21
4.4. H m lai
H m lai (Fuzzy Hybrid) l mt h thng iu khin t ng trong thit
b iu khin bao gm: phn iu khin kinh in v phn h m
4.4.1. Cc dng h m lai ph bin:
1. H m lai khng thch nghi

B tin
X l m
I TNG
B K
Hnh 4.8
2. H m lai cascade
BK M
BK
KINH IN
I TNG
Hnh 4.9
3. Cng tc m
iu khin h thng theo kiu chuyn i khu iu khin c tham s i
hi thit b iu khin phi cha ng tt c cc cu trc v tham s khc
nhau cho tng trng hp. H thng s t chn khu iu khin c tham s
ph hp vi i tng.
B iu khin n
BK M
B iu khin 1
i tng
Hnh 4.10
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Chng 4 : iu khin m
4.4.2. V d minh ho
Hy xt s khc bit khi s dng b tin x l m iu khin i tng

K
. Chn BK PI vi
gm khu cht ni tip vi khu G ( s ) =
s (1 + 0.2 s )
tham s KP = 10, TI = 0.3sec.
i tng
E
DE
B m
KR +
1
TI s
-u
G(s)
S dng Simulink kt hp vi toolbox FIS Editor ca Matlab m phng

h thng trn.
p ng h thng khi khng c b m:
Trang 23

Th vi cc gi tr u v K khc nhau cho thy c tnh ng ca h s xu
i khi vng cht rng hoc h s khuch i ln. hiu chnh c tnh
ng ca h thng ta a vo b lc m nh hnh v trn.
Xy dng lut iu khin vi 2 u vo v mt u ra nh sau:
x
NB
NS
ZE NB
PS
PB
NB
DE
NS ZE
NB
NS NS
NS ZE
PS PS
PB PS
PS
NS
NS
PS
PS
PB
PB
ZE
PB
PS
Tt c 18 lut c khun dng nh sau:

Nu E = x1 v DE = x2 Th x = x3
Trong x1, x2, x3 {NB, NS, ZE, PS, PB}
NB NS ZE PS PB
-1
-20
0
0
1
20
NB NS ZE PS PB
E
DE
-1
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Chng 4 : iu khin m
T hai th trn ta thy c b m ci thin rt tt c tnh ng ca
h thng. Th vi nhiu u khc nhau ta s thy p ng hu nh khng
ph thuc vo u .
4.5. H m mng nron v ng dng

4.5.1. Mng nron nhn to
Mng nron l s ti to bng k thut nhng chc nng ca h thn kinh

con ngi. Mng nron gm v s cc nron lin kt vi nhau nh hnh sau
Nhn
Khp ni
Axon
Hnh 4.11
Hai c tnh c bn ca mng nron l:

+ Qu trnh tnh ton c tin hnh song song v phn tn trn nhiu
nron gn nh ng thi.
+ Tnh ton thc cht l qu trnh hc, ch khng phi theo s nh
sn t trc.
M hnh ton ca mng nron nhn to : (Artifical Neural Networks)
X
B
tng
Hm phi tuyn
y l m hnh iu khin dng MISO, vi u vo l n tnh hiu

X={x1,x2,xn }T, u ra l tn hiu y c xc nh:
n
y(t) = f ( wk x k (t ) ) ,
k =1
trong l ngng kch hot nron, wk l cc trng s, f l hm kch hot.
Trang 25

4.5.2. Cu trc mng nron
Nguyn l cu to ca mt mng nron l bao gm nhiu lp, mi lp bao

gm nhiu nron c cng mt chc nng. Sau y l cc dng lin kt mng
c bn:
a) Mng truyn thng (Feedforward Neural Networks)
x1
y
x2
Lp vo
Lp b che
Lp ra
b) Mng c hi tip:
4.5.3. Mt s mng nron c bn
1. Mng MLP (Multilayer perceptron)

C rt nhiu cng trnh nghin cu v mng MLP v cho thy nhiu u
im ca mng ny. Mng MLP l c s cho thut ton lan truyn ngc v
kh nng xp x lin tc.
Thut ton lan truyn ngc:
Tp d liu cho c n mu (xn,dn), vi mi n, xn l tn hiu u vo, dn l
u ra mong mun. Qu trnh hc l vic thc hin cc tiu ho hm G sau:
N
G=
G
n =1
, vi Gn =
1
N
N
q 1
( yq( x n ) dq( x n )) 2
Q l s nt ti lp ra ca mng. Cn trng s lin kt mng c iu chnh

theo php lp sau :
http://www.khvt.com
Chng 4 : iu khin m
w(k + 1) = w(k )
G
, trong >0 l hng s t l hc.
Mng MLP l mt gii php hu hiu cho vic m hnh ho, c bit vi
qu trnh phc tp hoc c ch cha r rng. N khng i hi phi bit
trc dng hoc tham s.
2. Mng RBF (Radial basis functions)
Biu din ton hc ca RBF
N 1
F ( x ) = C 0 + C k ( x Rk )
k =0
trong C : vct cha trng s RBF

R : vct cha cc tm RBF
: hm c s hoc hm kch hot ca mng

F(x) : hm nhn c t u ra ca mng
C0 : h s chch
|| || : chun Euclide
Nh kh nng xp x cc hm phi tuyn bt k vi chnh xc tu , mng
nron, c bit l mng RBF l cng c quan trng cho m hnh ho h
thng v cho iu khin thch nghi cc h thng phi tuyn.
4.5.4. Nhn dng m hnh v iu khin s dng mng nron
1. Nhn dng thng s m hnh
i tng K
u(k)
y(k)
Mng nron
e(k)
~
y (k )
Hnh 4.12
Nhn dng thng s chnh l qu trnh luyn mng. Tn hiu sai s
e= y~
y l c s cho luyn mng, l thi gian tr.
2. iu khin s dng mng nron
Ta c nhiu cu trc iu khin s dng mng nron nh:
Trang 27

+ iu khin theo vng h
+ iu khin theo vng kn
+ iu khin vi m hnh tham chiu
+ iu khin theo thi gian vt qu (over time)
+ B iu khin vi quyt nh h tr ca mng nron
yd
M hnh
tham chiu
r
BK bng
mng nron
e
u
TK
Hnh 4.13: iu khin vi m hnh tham chiu

v sai s lan truyn qua TK
3. ng dng mng RBF nhn dng h ng lc hc phi tuyn
Xt h ng hc phi tuyn ca TK
x = f ( x) + g ( x)u
(4.5)
Gi s TK l n nh vng h, vct trng thi x l quan st c. Cn

tm m hnh xp x (4.5). Chn ARn x m l ma trn n nh, ta vit li (4.5)
dng :
x = Ax + ( f ( x) Ax) + g ( x)u
Theo tnh cht xp x ca mng RBF cho hm phi tuyn: Nu s lng cc
nt trong lp n l ln th f(x) - Ax v g(x) c th xp x bng cc mng
RBF sau:
f(x)- Ax = W*S(x) v g(x) = V*S(x)
trong W* Rn x N v V* Rn x N l cc ma trn trng s ca cc t hp
tuyn tnh trn. N xc nh s lng nt trong mt lp RBF ca mng.
S(x) = [ S1, S2, , SN ]T, vct cc hm c s sau:
S k = x Ck
2
k
1
2
, vi k = 1, 2, 3,N
Tm Ck Rn v rng k Rn c bit trc. Ta vit li (4.5) nh sau:

x = Ax + W * S ( x) + V * S ( x)u
Vy m hnh ca i tng c th c m t bng phng trnh:
http://www.khvt.com
Chng 4 : iu khin m
~
x = A~
x + WS ( x) + VS ( x)u
nxN
trong W R , V Rn x N l cc ma trn c lng ca W*, V*, ~
x Rn
l c lng trng thi ca x. Gi
x x , We = W*-W, Ve = V*-V
xe = ~
Phng trnh sai s c lng s l :
x e = Axe + We S ( x) + Ve S ( x)u
(4.6)
Thut ton nhn dng s dng hm Lyapunov:
L( x e , We ,Ve ) =
1 T
1
1
xe Pxe + Tr (WeT We ) + Tr (VeT Ve )
2
2
2
(4.7)
vi P l ma trn i xng xc nh dng. C th xc nh ma trn Q i

xng xc nh dng tho phng trnh Lyapunov sau:
PA+ATP = - Q.
Thay (4.6) vo (4.7) v ly o hm ta c:
1
1
1
L = xeT (PA + AT P) xe + S T ( x)WeT Pxe + S T ( x)VeT Pxeu + Tr(WeT We ) + Tr(VeT Ve )
2
2
2
T
T
T
(4.8)
Chn :
Tr (W W ) = S ( x)W Px
e
Tr (V Ve ) = S ( x)V Pxe u

T
e
th :
T
e
1
L ( xe ,We , Ve ) = xeT Qxe
2
(4.9)
(4.10)
Do cc ma trn W* v V* l ma trn hng nn t (4.8), (4.9) ta suy ra thut

nhn dng m hnh nh sau:
n
W ij = S j Pik xek
k =1
n
Vij = S j Pik xek u

k =1
vi i = 1,2,,N v j = 1,2,,N, Pij l phn t ca ma trn Lyapunov P.

T (4.7) ta thy rng
T (4.10) nhn c
L(xe,We,Ve) 0
L ( x , W ,V ) 0
e
V vy xe(t) 0, We 0, Ve 0, hoc x x , W W*, V V* khi t .

tnh ton n gin c th chn :
A = aI, Q = qI, P = pI, vi a > 0, q > 0 v I l ma trn n v
Khi thut ton nhn dng m hnh n gin nh sau:
Trang 29

= pS x
W
ij
j ei

V = pS x u
ij
ei
q
>0.
2a
hi t n trng s thc, h ng lc phi c giu thng tin u
vo. V th a s u vo c chn ngu nhin.
T phng trnh Lyapunov rt ra : p =
4.5.5. Kt hp mng nron v h m
Qua phn tch trn ta c th thy c nhng u nhc im ca mng

nron v iu khin m nh sau:
Tnh cht
Mng Nron
B iu khin m
Thng qua trng s c c th hin ngay
Th hin tri thc
th hin n trong mng
ti lut hp thnh
Ngun ca tri thc
T cc mu hc
T
kinh
nghim
chuyn gia
X l thng tin khng nh lng
nh lng v nh
chc chn
tnh
Lu gi tri thc
Trong nron v trng s Trong lut hp thnh
ca tng ng ghp ni v hm thuc
nron
Kh nng cp nht v Thng qua qu trnh hc
Khng c
nng cao kin thc
Tnh nhy cm vi Thp
Cao
nhng thay i ca
m hnh
T ngi ta i n vic kt hp mng nron v iu khin m hnh
thnh b iu khin m - nron c u im vt tri.
Mng nron
Vo
X l tn hiu nron vo
c lng trng thi
D bo trng thi
Nhn dng h thng
B iu khin m
iu khin
Ra quyt nh
Kin trc kiu mu ca mt h m-nron
http://www.khvt.com
Ra
Chng 4 : iu khin m
4.5.6. Thut ton di truyn (GA)
Gii thiu
Thut ton di truyn l thut ton ti u ngu nhin da trn c ch chn lc

t nhin v tin ha di truyn. Nguyn l c bn ca thut ton di truyn
c Holland gii thiu vo nm 1962. C s ton hc c pht trin t
cui nhng nm 1960 v c gii thiu trong quyn sch u tin ca
Holland, Adaptive in Natural and Artificial Systems. Thut ton di truyn
c ng dng u tin trong hai lnh vc chnh: ti u ha v hc tp ca
my. Trong lnh vc ti u ha thut ton di truyn c pht trin nhanh
chng v ng dng trong nhiu lnh vc khc nhau nh ti u hm, x l
nh, bi ton hnh trnh ngi bn hng, nhn dng h thng v iu khin.
Thut ton di truyn cng nh cc thut ton tin ha ni chung, hnh thnh
da trn quan nim cho rng, qu trnh tin ha t nhin l qu trnh hon
ho nht, hp l nht v t n mang tnh ti u. Quan nim ny c th
xem nh mt tin ng, khng chng minh c, nhng ph hp vi
thc t khch quan. Qu trnh tin ha th hin tnh ti u ch, th h sau
bao gi cng tt hn (pht trin hn, hon thin hn) th h trc bi tnh
k tha v u tranh sinh tn.
Cc php ton ca thut ton di truyn
1. Ti sinh (Reproduction)
Ti sinh l qu trnh chn qun th mi tha phn b xc sut da trn

thch nghi. thch nghi l mt hm gn mt gi tr thc cho c th trong
qun th. Cc c th c thch nghi ln s c nhiu bn sao trong th h
mi. Hm thch nghi c th khng tuyn tnh,khng o hm, khng lin tc
bi v thut ton di truyn ch cn lin kt hm thch nghi vi cc chui s.
Qu trnh ny c thc hin da trn bnh xe quay roulette (bnh xe s
x) vi cc rnh c nh kch thc theo thch nghi. K thut ny
c gi l la chn cha m theo bnh xe roulette. Bnh xe roulette c
xy dng nh sau (gi nh rng, cc thch nghi u dng, trong trng
hp ngc li th ta c th dng mt vi php bin i tng ng nh li
t l sao cho cc thch nghi u dng).
Trang 31

- Tnh thch nghi fi, i=1 n ca mi nhim sc th trong qun th hin
hnh,vi n l kch thc ca qun th (s nhim sc th trong qun th).
n
- Tm tng gi tr thch nghi ton qun th: F = f i

i =1
- Tnh xc sut chn pi cho mi nhim sc th: pi =
fi
F
i
- Tnh v tr xc sut qi ca mi nhim sc th: qi = p j

j =1
Tin trnh chn lc c thc hin bng cch quay bnh xe roulette n ln,
mi ln chn mt nhim sc th t qun th hin hnh vo qun th mi
theo cch sau:
- Pht sinh ngu nhin mt s r (quay bnh xe roulette) trong khong
[01]
- Nu r < q1 th chn nhim sc th u tin; ngc li th chn nhim
sc th th i sao cho qi-1 < r qi
V d 4.5.6:
Xem xt dn s c 6 nhim sc th vi gi tr tng thch nghi ton qun th

l 50 (bng 1), bnh xe roulette trong hnh 4.14. By gi ta quay bnh xe
roulette 6 ln, mi ln chn mt nhim sc th cho qun th mi. Gi tr
ngu nhin ca 6 s trong khong [01] v cc nhim sc th tng ng
c chn c cho trong bng 2.
Nhim sc
th
Chui m Tr thch nghi Xc sut chn V tr xc sut

ha
f(i)
pI
qi
1
01110
8
0.16
2
11000
15
0.3
3
00100
2
0.04
4
10010
5
0.1
5
01100
12
0.24
6
00011
8
0.16
Bng 1: Cc nhim sc th v cc gi tr thch nghi
http://www.khvt.com
0.16
0.46
0.5
0.6
0.84
1
Chng 4 : iu khin m
Hnh 4.14: Bnh xe roulette

S ngu nhin
Nhim sc th
0.55
4
0.1
1
0.95
6
0.4
2
0.8
5
0.7
5
Bng 2: Qun th mi
Qua v d trn ta thy rng, c th s c mt s nhim sc th c chn
nhiu ln, cc nhim sc th c thch nghi cao hn s c nhiu bn sao
hn, cc nhim sc th c thch nghi km nht thi dn dn cht i.
Sau khi la chn c qun th mi, bc tip theo trong thut ton di
truyn l thc hin cc php ton lai ghp v t bin.
2. Lai ghp (Crossover)
Php lai l qu trnh hnh thnh nhim sc th mi trn c s cc nhim sc

th cha - m, bng cch ghp mt hay nhiu on gen ca hai (hay nhiu)
nhim sc th cha - m vi nhau. Php lai xy ra vi xc sut pc, c thc
hin nh sau:
- i vi mi nhim sc th trong qun th mi, pht sinh ngu nhin
mt s r trong khong [01], nu r < pc th nhim sc th c chn
lai ghp.
Trang 33

- Ghp i cc nhim sc th chn c mt cch ngu nhin, i vi
mi cp nhim sc th c ghp i, ta pht sinh ngu nhin mt s
nguyn pos trong khong [0m-1] (m l tng chiu di ca mt nhim
sc th - tng s gen). S pos cho bit v tr ca im lai. iu ny c
minh ha nh sau:
V tr lai
b1b2bposbpos+1bm
c1c2cposcpos+1cm
- Chuyn i cc gen nm sau v tr lai.
b1b2bposcpos+1cm
c1c2cposbpos+1bm
Nh vy php lai ny to ra hai chui mi, mi chui u c tha hng
nhng c tnh ly t cha v m ca chng. Mc d php lai ghp s dng
la chn ngu nhin, nhng n khng c xem nh l mt li i ngu
nhin qua khng gian tm kim. S kt hp gia ti sinh v lai ghp lm cho
thut ton di truyn hng vic tm kim n nhng vng tt hn.
3. t bin (Mutation)
t bin l hin tng c th con mang mt (s) tnh trng khng c trong
m di truyn ca cha m. Php t bin xy ra vi xc sut pm, nh hn rt
nhiu so vi xc sut lai pc. Mi gen trong tt c cc nhim sc th c c hi
b t bin nh nhau, ngha l i vi mi nhim sc th trong qun th hin
hnh (sau khi lai) v i vi mi gen trong nhim sc th, qu trnh t bin
c thc hin nh sau:
- Pht sinh ngu nhin mt s r trong khong [01]
- Nu r < pm, th t bin gen .
t bin lm tng kh nng tm c li gii gn ti u ca thut ton di
truyn. t bin khng c s dng thng xuyn v n l php ton tm
http://www.khvt.com
Chng 4 : iu khin m
kim ngu nhin, vi t l t bin cao, thut ton di truyn s cn xu hn
phng php tm kim ngu nhin.
Sau qu trnh ti sinh, lai v t bin, qun th mi tip tc c tnh ton
cc gi tr thch nghi, s tnh ton ny c dng xy dng phn b xc
sut (cho tin trnh ti sinh tip theo), ngha l, xy dng li bnh xe
roulette vi cc rnh c nh kch thc theo cc gi tr thch nghi hin
hnh. Phn cn li ca thut ton di truyn ch l s lp li chu trnh ca
nhng bc trn.
Cu trc ca thut ton di truyn tng qut
Thut ton di truyn bao gm cc bc sau:

- Bc 1: Khi to qun th cc nhim sc th.
- Bc 2: Xc nh gi tr thch nghi ca tng nhim sc th.
- Bc 3: Sao chp li cc nhim sc th da vo gi tr thch nghi ca
chng v to ra nhng nhim sc th mi bng cc php ton di
truyn.
- Bc 4: Loi b nhng thnh vin khng thch nghi trong qun th.
- Bc 5: Chn nhng nhim sc th mi vo qun th hnh thnh
mt qun th mi.
- Bc 6: Nu mc tiu tm kim t c th dng li, nu khng tr
li bc 3.
Trang 35
4.6. ng dng iu khin m trong thit k h thng

4.6.1 iu khin m khng thch nghi (Nonadaptive Fuzzy Control)
1. B iu khin m tuyn tnh n nh SISO
Phng trnh bin trng thi ca h SISO

x (t ) = Ax(t ) + bu (t )
y (t ) = cx(t )
u (t ) = f [ y (t )]
Thay phng trnh cui vo hai phng trnh trn ta c h m vng kn
nh sau:
u
A
i tng K
f(y)
BK m
Hnh 4.15: Cu trc h SISO
Thit k BK m n nh SISO
Bc 1: Gi s y(t) c min gi tr l khong U=[ ], chia U ra 2N+1
khong Ak nh hnh v bn di:
A1
A2
AN AN+1 AN+2
x1 x2
A2N A2N+1
xN+1
x2N+1
Hnh 4.16: Hm thuc ca BK
http://www.khvt.com
Chng 4 : iu khin m
Bc 2: Thnh lp 2N+1 lut m IF THEN c khun dng
IF y = Ak THEN u = Bk
trong k = 1,2,.,2N+1 v trng tm y ca khong m Bk l:
0 k = 1,..., N
y = 0 k = N + 1
0 k = N + 2,...,2 N + 1
(4.11)
Bc 3: Chn lut hp thnh tch, gii m theo phng php trung bnh
trng s, ta c lut iu khin nh sau:
u = f ( y) =
2 N +1
y Ak ( y )
k =1
2 N +1
k =1
A ( y)
k
vi y tho (4.11) v Ak ( y ) c nu trong Hnh 4.16.

2. B K m tuyn tnh n nh MIMO
Phng trnh bin trng thi ca h MIMO:

x (t ) = Ax(t ) + Bu (t )
y (t ) = Cx(t )
(4.12)
Gi s h c m u vo v m u ra th u(t) = (u1(t),,um(t))T c dng :

uk(t) = - fk[y(t)]
(4.13)
vi k=1,2,,m v fk[y(t)] l h m m u vo 1 u ra.

M hnh h thng c cu trc nh Hnh 4.15, nhng thay cho cc s b,c bi
cc ma trn B,C, hm v hng f bi vct f = (f1,f2,,fm)T.
Thit k BK m n nh MIMO
Bc 1: Gi s u ra yk(t) c min gi tr l Uk = [k k], vi k=1,,m.
Chia Uk ta 2N+1 khong Akli v thit lp hm thuc nh Hnh F.2
Bc 2: Thnh Lp m nhm lut m IF THEN, nhm th k cha
m
i =1 (2 N k + 1) lut dng:
IF y1= A1l1 And . And ym= Amlm , THEN u= Bkl1 ...lm
Trong li=1,2,,2Nk+1; k=1,2,,m v trng s y kl1 ...lm ca tp m Bkl1 ...lm
c chn nh sau:
Trang 37
l1 ...l m
k
0 l k = 1,2,..., N k
= 0 l k = N k + 1
0 l = N + 2,...,2 N + 1
k
k
k
(4.14)
Bc 3: Chn lut hp thnh tch, gii m theo phng php trung bnh
trng s, ta c lut iu khin:
uk = f k
( y) =
2 N1 +1
l1 =1
...l
y kl1 ...lm (i =1 Ali ( y i ))
2 N m +1
2 N1 +1
l1 =1
m =1
...l
m
m
(
l ( yi ))
=1 i =1 A i
m
(4.15)
vi k=1,2,,m.
3. B iu khin m ti u
Phng trnh trng thi

x (t ) = Ax(t ) + Bu (t )
x(0) = x0
(4.16)
vi x Rn v u Rm, v ch tiu cht lng dng ton phng:

T
J = x T (T ) Mx(T ) + x T (t )Qx(t ) + u T (t ) Ru (t ) dt
(4.17)
nn
vi M R
nn
,QR
, R Rm m l cc ma trn xc nh dng.
Ta xc nh u(t) dng nh (4.15), vi u(t) = (u1,u2,,um)T

uk = f k
( x) =
2 N1 +1
l1 =1
...l
y kl1 ...lm (i =1 Ali ( xi ))
2 N n +1
2 N1 +1
l1 =1
n =1
...l
2 N n +1
n =1
(i =1 Ali ( xi ))
n
(4.18)
Chng ta cn xc nh thng s y kl1 ...ln cc tiu J.

Ta nh ngha hm m c s b(x) = (b1(x), , bN(x))T vi:
bl ( x) =
...
i =1
2 N1 +1
l1 =1
A ( xi )
2 N n +1
ln =1
li
i
(4.19)
(i =1 Ali ( xi ))
n
vi li = 1,2,,2Ni+1; l = 1,2,,N v N = i =1 (2 N i + 1) . Ta nh ngha

n
ma trn thng s Rm N nh sau :
http://www.khvt.com
Chng 4 : iu khin m
= 1T , T2 ,..., Tm
(4.20)
vi Tk R 1 N cha N thng s y kl1 ...ln , c bc ging nh bl(x). Ta vit li tn

hiu iu khin m dng u = (u1,u2,..,um)T = (-f1(x),,-fn(x))T nh sau:
u = b(x)
(4.21)
Gi ta gi s = (t). Thay (4.21) vo (4.16) v (4.17) ta c :

x (t ) = Ax(t ) + B(t )b[x(t )]
(4.22)
v hm ch tiu cht lng l :

T
J = x (T ) Mx(T ) + x T (t )Qx(t ) + b T ( x(t )) T (t ) R(t )b( x(t )) dt

T
(4.23)
V vy vn cn gii quyt by gi l xc nh (t) ti u c tiu ho J.

Xt hm Hamilton:
H ( x, , p) = x T Qx + b T ( x) T Rb( x) + p T [ Ax + Bb( x)]
Ta c:
(4.24)
H
= 2 Rb( x)b T ( x) + B T pb T ( x) = 0
1
Suy ra : = R 1 B T pb T ( x)[b( x)b T ( x)]1
2
(4.25)
Thay (4.25) vo (4.24) ta c:

H ( x, p ) = x T Qx + p T Ax + [ 2 ( x) ( x)] p T BR 1 B T p
trong : ( x) =
(4.26)
1 T
b ( x)[b( x)b T ( x)]1 b( x)
2
(4.27)
p dng nguyn l cc tiu Pontryagin ta c:

x =
H
= Ax + 2[ 2 ( x) ( x)]BR 1 B T p
p
p =
(4.28)
H
( x) T
= 2Qx AT p [2 ( x) 1]
p BR 1 B T p
x
x
(4.29)
Gii hai phng trnh vi phn (4.27) v (4.28) ta s c x*(t) v p*(t), t

ta xc nh c:
1
(t ) = R 1 B T p (t )b T ( x (t ))[b( x (t ))b T ( x (t ))]1
2
(4.30)
Trang 39

V b m ti u s l:
u = (t )b( x)
(4.31)
Cc bc thit k BK m ti u:
Bc 1: Xc nh hm thuc Ali ( xi ) , vi li = 1,2,,2Ni+1 v I = 1,,n.
i
Chn dng hm thuc l Gaussian.

Bc 2: Tnh hm m c s bl(x) theo (4.19) v tnh (x) theo (4.27), xc
( x)
.
nh tr o hm :
x
Bc 3: Gii (4.28) v (4.29) c x*(t) v p*(t), tnh *(t) theo (4.30)
vi t[0 T].
Bc 4: Xc nh BK m ti u t (4.31)
V d ng dng:
Hy thit k v m phng h thng Qu bng v n by nh hnh v sau:

u
Hnh 4.17
Thit k BK m iu khin qu bng di chuyn t im gc O n mc

tiu (v tr t) cch O khong r. Chn bin trng thi nh sau:
x = (r , r, ,) T = ( x , x , x , x ) T v y = r = x1
1
Phng trnh bin trng thi c chn l:

x1
x ( x x 2
1 4
2 =
x 3

x 4
x2
0
sin x3 ) 0
u
+
0
x4

0
1
Chn M=0, Q=I, R=I, Ni=2 vi i=1,2,3,4. Chn hm thuc dng:
A ( xi ) = exp[2( xi xil ) 2 ]
li
ip
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Chng 4 : iu khin m
Trong i=1, 2, 3, 4; li=1, 2, 3, 4, 5 v xili = ai + bi (li 1) vi a1 = a2= - 2,

a3=a4=-1, b1=b2=1, b3=b4=0.5.
Chn = 0.7143, = 9.81. Kt qu m phng vi 3 mc tiu khc nhau:
mc tiu
iu khin
4. iu khin m c h thng gim st
i tng
B K m
B K gim st
Hnh 4.18
Thit k b gim st
Xt h thng phi tuyn c cho bi phng trnh vi phn:
x ( n ) = f ( x, x ,..., x ( n 1) ) + g ( x, x ,..., x ( n 1) )u
(4.32)
trong x = ( x, x ,..., x ( n 1) ) T l vct trng thi ra, u R l tn hiu iu

khin, f v g l cc hm cha bit, gi thit g > 0.Gi s ta c BK m:
u = ufuzz(x)
Trang 41

Gi s |x(t)| Mx, x vi Mx = const. Khi thm b gim st th tn hiu iu
khin h thng s l:
(4.33)
u = ufuzz(x) + I*us(x)
trong I* = 1 nu |x(t)| Mx, I* = 0 nu |x(t)| < Mx. Ta cn thit k b

gim st us(t).
Thay (4.33) vo (4.32) ta c:
x(n) = f(x) + g(x)ufuzz(x) + g(x)I*us(x)
(4.34)
Gi s ta lun xc nh c hai hm f (x) v gL(x) sao cho |f(x)| f (x) v

0 < gL(x) g(x).
t :
u =
1
f ( x) k T x
g ( x)
(4.35)
Trong k = (kn,kn-1,..,k1)T R. Ta vit li (4.34) nh sau:
x ( n ) = k T x + g u fuzz u + I u s
0
0
A = ...
0
k n
(4.36)
0 ...
0 ...
...
00
... ... ...

0 0 ...
...
0
k n 1 ... ... ... k 2
0
0
...
1
k1
0
...
b=
0

g
Vit (4.36) dng vct :
x = Ax + b[u fuzz u + I u s ]
(4.37)
1 T
x Px
2
(4.38)
Xt hm Lyapunov : V =
Trong P l ma trn i xng xc nh dng tho phng trnh

Lyapunov :
AT P + PA = Q
(4.39)
T (4.37), (4.39) v xt trng hp |x| Mx , ta c:
http://www.khvt.com
Chng 4 : iu khin m
1
V = x T Qx + x T Pb[u fuzz u + u s ] x T Pb ( u fuzz + u ) + x T Pbu s (4.40)
2
Ta cn tm us V 0 , kt hp phng trnh trn vi (4.6.25) ta c:
1
u s = sign( x T Pb) ( f U + k T x ) + u fuzz

gL
Thay (4.41) vo (4.40) ta s c V 0 .
(4.41)
V d (4.6.1.4)
Thit k h thng c b gim st gi cn bng cho con lc ngc.
M hnh:
=x1
= x 2
l
mgsin
mc
Hnh 4.19
Phng trnh trng thi:

x1 = x 2
cos x1
mlx 22 cos x1 sin x1
g sin x1
mc + m
mc + m
+
u
x 2 =
2
4 m cos x1
4 m cos 2 x1
)
)
l(
l(
3
3
mc + m
mc + m
Thit k b gim st
u tin ta tm fU v gL, ta c
(4.42)
(4.43)
mlx 22 cos x1 sin x1

0.25 2
9.8 +
x2
mc + m
1.1
= 15.78 + 0.0366 x 22
2
2
0
.
05
4 m cos x1
l(
)
3 1.1
3
mc + m
g sin x1
f ( x1 , x 2 ) =
Trang 43

chn f U ( x1 , x 2 ) = 15.78 + 0.0366 x 22
con lc n nh th gc x1 = 200. Suy ra Mx = 200.
g ( x1 , x 2 )
cos 20 0
= 1.1
2 0.05
2
0
1.1( +
cos 20 )
3 1.1
chn gL(x1,x2) = 1.1

Chn cc thng s thit k nh sau:
10 0
a = /18, k1 = 2, k2 = 1 , Q =
0 10
15 5
Gii phng trnh Lyapunov (4.39) ta c : P =
5 15
Thit k BK m c ufuzz(x).
T (4.41) ta s c BK c gim st h con lc ngc.
Dng simulink ca matlab chy m phng ta s thy c tnh u vit khi
c v khng s dng b gim st.
5. iu khin m trt
1. Nguyn l iu khin trt

Xt h thng phi tuyn
x ( n ) = f ( X ) + g ( X )u
(4.44)
y(t) = x(t)
trong u l tn hiu iu khin, x l tn hiu ra, X = ( x, x ,..., x ( n 1) ) T l
vct trng thi. Trong (G.1) f(X) l hm cha bit v b chn bi mt hm
bit:
f ( X ) = f ( X ) + f ( X )
(4.45)
v
f ( X ) F ( X )
(4.46)
(4.47)
trong
0 < g0 < g(X) <g1

f ( X ), F ( X ) bit, g0, g1 l cc hng s dng.
i vi mc tiu iu khin n nh h thng th chng ta cn xc nh lut

iu khin hi tip u = u(X) sao cho ng ra ca h thng x 0 khi t .
http://www.khvt.com
Chng 4 : iu khin m
lm c iu ny ta a ra hm trt sau:
d n 1 x
d n2 x
dx
+
a
+ ... + a1
+ a0 x
n2
n 1
n2
dt
dt
dt
trong n l bc ca i tng.
S=
(4.48)
Cc h s a0, a1, , an-2 phi c chn sao cho a thc c trng ca

phng trnh vi phn S=0 l a thc Hurwitz.
Phng trnh S=0 m t mt mt trong khng gian trng thi n chiu gi l
mt trt ( Sliding surface).
Ta cn xc nh lut iu khin u sao cho S 0 c x 0.
i vi iu khin bm mc tiu, ta cn xc nh lut iu khin u = u(X)
sao cho trng thi ca h thng vng kn s bm theo trng thi mong mun
X d = x d , x d ,..., x d( n 1)
Gi e l sai lch gia tn hiu ra v tn hiu t:
e = X X d = e, e,..., e ( n 1)
Mc tiu iu khin l trit tiu e khi t .

nh ngha hm trt :
d n 1e
d n2 e
de
S (e) = n 1 + a n 2 n 2 + ... + a1
+ a0 e
(4.49)
dt
dt
dt
trong n l bc ca i tng iu khin, cc h s a0, a1, an-2 c
chn sao cho a thc c trng ca S(e)=0 l a thc Hurwitz.
S dng phng php Lyapunov, chn hm V xc nh dng nh sau:
1 2
S
2
V = SS
V =
(4.50)
(4.51)
V xc nh m ta chn lut iu khin u sao cho:

Khi S>0 th S <0
Khi S<0 th S >0
Do vy vi hm trt S(e) ta xc nh lut iu khin u tho:
dS
sign( S ) < 0
dt
(4.52)
Trang 45

Vi lut iu khin nh vy, h thng s n nh theo tiu chun Lyapunov,
lc ny mi qu o trng thi ca h thng bn ngoi mt trt s c
a v mt trt v duy tr mt cch bn vng.
x2= x
S=0
x1
Hnh 4.20 Mt trt bc hai

2. H thng iu khin trt m
Xt h thng (4.44), ta cn xc nh lut iu khin u a ng ra ca h
thng bm theo theo gi tr mong mun cho trc y(t) yd(t) hay ni cch
khc l e (i ) = y (i ) y d( i ) 0 , i = 0,1,,n-1
Da vo t tnh ca b iu khin trt ta cn thc hin hai bc sau:

Bc 1: Chn mt trt S
Bc 2: Thit k lut iu khin cho h thng ri vo mt trt S = 0 v
duy tr ch ny mi mi.
Gi
e(t ) = (e1 (t ), e2 (t ),..., en (t ) ) = e(t ), e(t ),..., e ( n 1) (t )

T
Chn hm trt:
de
d n 1e
d n2 e
S (e) = n 1 + bn 2 n 2 + ... + b1
+ b0 e
(4.53)
dt
dt
dt
Trong b0, b1,,bn-2 c chn sao cho nghim ca a thc c trng
p n 1 + bn 2 p n 2 + ... + b1 p + b0 = 0 u nm bn tri mt phng phc.
Mt trt S c cho b phng trnh S(e) = 0, lut iu khin u c chn
dS
sign( S ) < 0 .
sao cho
dt
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Chng 4 : iu khin m
3.Thit k b iu khin m trt bc hai
Xt h thng phi tuyn bc hai sau:
x = f ( X ) + g ( X )u
(4.54)
y=x
(4.55)
trong X = (x, x ) l vct trng thi, u l ng vo iu khin y(t) l ng

ra ca h thng.
T
Mc tiu ca iu khin l xc nh lut iu khin u ng ra ca h thng

bm theo qu o mong mun yd(t) vi sai s nh nht.
Lut iu khin u gm 2 thnh phn:
u = ueq + us
(4.56)
Thnh phn ueq c thit k nh sau:
1
f ( X , t ) + yd (t ) e , (>0)
g
u eq (t ) =
(4.57)
Thnh phn us c chn l:

u s (t )
Trong
1
( F ( X , t ) + ) + ( 1) u eq (t )
g
(4.58)
f ( X , t ) l gi tr c lng ca f(X,t)
F(X,t) l cn trn ca sai s c lng
0 < g0 < g(X) < g1
g = g 0 g1
g1
g0
Lut iu khin m c thit k nh sau:

u (t ), S < 0
u (t ) = +
u (t ), S > 0
Trong :
[
[ ( F ( X , t ) + ) + ( 1) u
(4.59)
]
(t ) ]
u (t ) = u eq (t ) + kg 1 ( F ( X , t ) + ) + ( 1) u eq (t )
u + (t ) = u eq (t ) kg 1
eq
(4.60)
(k 1)
Trang 47

H qui tc m c khun dng nh sau:
R1 : Nu S<0 Th
u 1 (t ) = u (t )
R2 : Nu S>0 Th
u 2 (t ) = u + (t )
(4.61)
Chn lut hp thnh tch, gii m theo phng php trng tm, lut iu
khin u c xc nh nh sau:
r
u (t ) =
(S )u (t )
i
i =1
(S )
i
i =1
Vi
(4.62)
r : s lut m
n
i (S ) = A (S )
j =1
i
j
A (S ) l hm thuc c dng Gaussian nh sau:

i
j
Hnh 4.21 : Dng hm thuc m ha

4. Thit k BK m trt cho h thng nng vt trong t trng
M hnh:
Hnh 4.22 minh ho mt h thng nng vt bng t trng, t trng c

to ra t cun dy qun quanh li thp, cun dy nhn p iu khin u.
http://www.khvt.com
Chng 4 : iu khin m
Hnh 4.22 : H thng nng vt trong t trng

Phng trnh ton m t h thng
dh
=v
dt
d ( L(h)i )
u = Ri +
dt
2
dv
i
= mg C
m
h
dt
(4.63)
Trong :
h : v tr hn bi (m)
v : vn tc hn bi (m/s)
i : dng in qua cun dy (A)
u : in p cung cp cho cun dy (V)
R, L : in tr v in cm cun dy (, H)
C : hng s lc t (Nm2/A2)
m : khi lng hn bi (Kg)
g : gia tc trng trng. (m/s2)
in cm ca cun dy l mt hm phi tuyn ph thuc vo v tr ca hn bi
L(h) = L1 +
2C
h
(4.64)
L1 l in cm ca cun dy khi hn bi rt xa.

Chn bin trng thi nh sau:
Trang 49

x1 = h, x2 = v, x3 = i
(4.65)
Vct trng thi ca h thng X = (x1, x2, x3)T

T (4.63), (4.64) v (4.65) ta c phng trnh trng thi:

x1 = x 2
2
C x3
(4.66)
x 2 = g
m x1
x 3 = R x3 + 2C x 2 x3 + 1 u
L
L x12 L
im cn bng ca h thng l nghim ca h (x1 = 0, x 2 = 0, x 3 = 0)
Gii ra c Xb = [x1b, 0, x3b ]T , vi x3b = x1b
gm
C
Gi Xd = [ x1d, x2d, x3d ]T l vct trng thi mong mun.

Mc tiu ca h thng l a X tin v Xd vi sai s nh nht.
Thit k BK trt
Thc hin php i trc nh sau:
z1 = x1 x1d
(4.67)
z 2 = x2
2
z = g C x 3
3
m x1
Lc ny ta cn xc nh lut iu khin u sao cho Z = (z1, z2, z3)T tin v

(0,0,0)T khi t , khi y X Xd.
Kt hp (4.66), (4.67) v mt s php bin i ta c:
z1 = z 2
z 2 = z 3
z = 2( g z ) z 2
3
3
z1 + x1d
(4.68)
R
2C
2
C
1
+
( g z 3 )u
L( z1 + x1d ) L L ( z1 + x1d ) m
http://www.khvt.com
Chng 4 : iu khin m
t
2
C
( g z 3 )u
g ( z) =
L( z1 + x1d ) m
R
2C
f ( z ) = 2( g z ) z 2 1
+
z1 + x1d L( z1 + x1d ) L
(4.69)
T (4.68) v (4.69) ta c m hnh ng hc ca h thng trong h to

mi nh sau:
z 1 = z 2
z 2 = z 3
z = f ( z ) + g ( z )u
3
(4.70)
Ng ra ca h thng trong h ta mi l:
e = z1 = x1 x1d
(4.71)
Mi quan h ng vo v ng ra:
e (3) = f ( z ) + g ( z )u
(4.72)
Hai hm f(z), g(z) tng ng trong h to ban u l f1(x), g1(x):
2C x 2 x32
f1 ( x) =
m x13
2Cx3
g1 ( x) =
Lmx12
2C R x3
1
+
Lx
L x1
1
(4.73)
Ta vit li (4.72) trong h to ban u:

e ( 3) = f 1 ( x) + g1 ( x)u
(4.74)
Chn mt trt nh sau:
S = e + a1e + a 0 e
(4.75)
Vi a1, a0 c chn sao cho a thc t trng ca phng trnh S = 0 l
Hurwitz.
T (4.75) v (4.70) ta c:
S = z 3 + a1 z 2 + a 0 z1
(4.76)
Ly o hm ca S theo thi gian ta c:
(4.77)
S = z 3 + a1 z 2 + a 0 z1 = f ( z ) + g ( z )u + a1 z 3 + a 0 z 2
Chn lut iu khin u nh sau:
Trang 51

1
[ f ( z ) a1 z 3 a0 z 2 Wsign( z 3 + a1 z 2 + a0 z1 )]
(4.78)
g ( z)
Thay (4.78) vo (4.77) ta c:
S = Wsign( z 3 + a1 z 2 + a 0 z1 ) = Wsign( S )
(4.79)
Nu chn W l hng s dng th ta s c SS < 0 . Do vy bin trng thi
u=
Z s hi t v zero khi t tho yu cu ra.

Ta c th vit li mt trt S di dng hm ca x1, x2, x3 nh sau:
2
Cx
(4.80)
S = g 3 + a1 x 2 + a 0 ( x1 x1d )
m x1
V lut iu khin u l:
2
2
C x3
C x3
1
u = f1 a1 g a0 x2 Wsign g + a1x2 + a0 ( x1 x1d )
g1
m x1
m x1
(4.81)
Cc thng s m phng ca h thng
Khi lng hn bi m = 11.87g, bn knh R = 7.14mm, mt nam chm in, in tr cun
dy R = 28.7, in khng L1 = 0.65H, hng s lc t C=1.410- 4Nm2A2.
Kt qu m phng bng simulink ca Matlab nh sau:
Hnh 4.23: V tr v p iu khin khi tn hiu t bin thin
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Chng 4 : iu khin m
Hnh 4.24: V tr v p iu khin khi tn hiu t l
Thit k BK trt m cho h thng nng vt trong t trng
Trong phn thit k BK trt ta bit lut iu khin u nh sau:

1
u=
g1
Cx
f1 a1 g 3 a0 x2 Wsign(S )
m x1
vi S c xc nh t (4.80), f1 v g1 c xc nh t (4.73).
Do trong lut iu khin c hm sign nn gy ra hin tng dao ng,
khc phc nhc im ny ta thm khu x l m trong b iu khin
thay th cho hm sign.
Chn lut iu khin u = ueq + us , vi:
u eq
1
C x3
f1 a1 g a0 x 2
=
g1
m x1
(4.82)
Trang 53

Cc bc xy dng b m:
Bc 1: M ho mt trt S
Hnh 4.25:Hm thuc vi 5 tp m

Bc 2: Xy dng h qui tc m:
R1: If S is zero
Then u1 = ueq
R2: If S is pos
Then u2 = ueq + C0
R3: If S is lpos
Then u3 = ueq + C1
R4: If S is neg
Then u4 = ueq C0
R5: If S is lneg
Then u5 = ueq C1
C0, C1 l cc hng s dng C0 > C1

Bc 3: Gii m
Bng phng php gii m trng tm, lut iu khin u c xc nh:

5
u=
u
i =1
5
i =1
(4.83)
Trong i l ng ca qui tc th i :
1 = zero ( S )
2 = pos ( S )
3 = lpos ( S )
4 = neg ( S )
5 = ln eg ( S )
http://www.khvt.com
(4.84)
Chng 4 : iu khin m
Kt qu m phng
S dng 3 tp m, chn C0 = 350.
Hnh 4.26: V tr v p K khi tn hiu t l xung vung
Hnh 4.27 V tr v p K khi tn hiu t l hng s
Trang 55

S dng 5 tp m, chn C0 =100 v C1 = 350.
Hnh 4.28 V tr v p K khi tn hiu t l xung vung
Hnh 4.29: V tr v p K khi tn hiu t l hng s
http://www.khvt.com
Chng 4 : iu khin m
S dng 7 tp m, chn C0 = 100, C1 = 200 v C2 = 350.
Hnh 4.30: V tr v p K khi tn hiu t l xung vung
Hnh 4.31: V tr v p K khi tn hiu t l hng s

Kt lun
- Vic thm BK m trit tiu hin tng dao ng.

- p ng h thng tt hn.
- Chn 5 tp m l thch hp nht khi xy dng BK m.
Trang 57

4.6.2. iu khin m thch nghi (Adaptive Fuzzy Control)
M hnh c bn ca BK m thch nghi:

ym
M hnh tham chiu

r
i tng
e
B iu khin m
Lut thch nghi

= h( , e)
Hnh 4.32
Phn loi cc BK m thch nghi:

+BK m thch nghi gin tip
+BK m thch nghi trc tip
+BK m thch nghi hn hp
1. Thit k BK m thch nghi gin tip
ym
i tng
x(n) =f(x)+g(x)u, y=x
BK m
u I = [ f ( x | f ) + y m( n ) + k T e] / g ( x | g )
f, g
iu kin
ban u
f(0), g(0)
Lut thch nghi

f = 1e T Pb
= e T Pbu
g
Hnh 4.33: H thng K m thch nghi gin tip
http://www.khvt.com
Chng 4 : iu khin m
Phng trnh trng thi
x ( n ) = f ( x, x ,..., x ( n 1) + g ( x, x ,..., x ( n 1) )u
(4.85)
y=x
(4.86)
T
trong u R l u vo, y R l u ra, x = (x1,x2,,xn) l vct trng

thi; f(x) v g(x) l hai hm m t cha bit c din t qua lut m:
Nu x1 = F1r v v xn = Fnr Th f(x) = Cr
(4.87)
Nu x1 = G1r v v xn = Gnr Th f(x) = Ds
(4.88)
Thit k BK m
Nu f(x) v g(x) c bit trc th vic thit k kh n gin nh ni
cc phn trc, ta s c lut iu khin nh sau:
1
f ( x) + y m( n ) + k T e
g ( x)
u =
(4.89)
vi e = y m y = y m x = (e, e,..., e ( n 1) ) T v k = (k n , k n 1 ,..., k1 ) T

Thay (4.89) vo (4.85) ta c :
e ( n ) + k1e ( n 1) + ... + k n e = 0
Chn k sao cho e(t) 0 khi t , khi y y ym.
Khi f(x) v g(x) cha bit r th ta thay bi h m f ( x) v g ( x) . nng
cao chnh xc th ta phi mt s thng s ca f ( x) v g ( x) t do.
M
Gi s ta chn hai thng s f R f v g R g l t do, ta k hiu nh

sau : f ( x) = f ( x | ) v g ( x) = g ( x | ) , thay vo (4.89) ta c:
f
u = uI =
1
f ( x | f ) + y m( n ) + k T e
g ( x | g )
(4.90)
xy dng BK (4.90) ta phi xc nh f ( x | f ) v g ( x | g ) , iu ny

c thc hin qua 2 bc sau:
Bc 1: Vi mi bin xi (i=1,2,,n), nh ngha pi tp m Aili (li=1,,pi) v
qi tp m Bili (li=1,,qi).
Bc 2: Xc nh f ( x | f ) t
i =1
pi lut m dng:
Nu x1 = A1l1 v . v xn = Anln , Th f = E l1 ...ln

Trang 59

Xc nh g ( x | g ) t
i =1
q i lut dng:
Nu x1 = B1l1 v . v xn = Bnln , Th g = H l1 ...ln

Chn thit b hp thnh tch, hm m dng singleton, gii m theo phng
php trung bnh trng s, ta c:
... y (
)=
... (
f ( x | f
p1
pn
l1 =1
l n =1
p1
i =1
l n =1
i =1
... y (
)=
... (
q1
qn
l1 =1
l n =1
A ( xi ))
pn
l1 =1
g ( x | g
l1 ...l n
f
Aili
l1 ...l n
g
i =1
q1
qn
l1 =1
l n =1
i =1
li
i
(4.91)
( xi ))
B ( xi ))
li
i
(4.92)
( xi ))
B li
i
Cho thng s y lf1 ...ln v y gl1 ...ln t do, v th ta c th dn vo f v g , ta vit

li (4.91) v (4.92) nh sau:
f ( x | f ) = Tf ( x)
(4.93)
g ( x | g ) = gT ( x)
trong (x) lf vct
i =1
(4.94)
pi chiu v (x) l vct
i =1
q i chiu, vi
thnh phn l1ln c cho bi:
(x )
( x) =
... (
Aili
( xi ))
(x )
( x) =
... (
Bili
( xi ))
l ...l
1
i =1
p1
l1 =1
Aili
pn
l n =1
i =1
(4.95)
l ...l
1
i =1
q1
l1 =1
Bili
qn
l n =1
i =1
(4.96)
Ta thy f v g c chn da theo (4.87) v (4.88), do f v g thay i

lin tc, ta cn tm f v g cc tiu ha sai s e.
Thit k lut thch nghi
Thay (4.90) vo (4.85) v sau mt vi bin i ta c:
e ( n ) = k T e + f ( x | ) f ( x) + g ( x | ) g ( x) u
] [
t :
http://www.khvt.com
(4.97)
Chng 4 : iu khin m
0
0
A = ...
0
k n
...
...
k n 1 ...
0
0
0 ... 0
0
...
... ... ... ... , , b =
0
0 ... 0
1

1
... ... ... k1

0 ... 0
(4.98)
Ta vit li (4.97) dng vct:

e = Ae + b f ( x | f ) f ( x) + g ( x | g ) g ( x) u I
{[
] [
] }
(4.99)
nh ngha cc thng s ti u nh sau:
f = arg
min sup
f R
g = arg
pi
X R n
min sup g ( x |
g R
t :
i =1
n
f ( x | f ) f ( x)
i =1
n
qi
X R n
(4.100)
) g ( x)
(4.101)
(4.102)
] [
w = f ( x | f ) f ( x) + g ( x | g ) g ( x) u I
Ta vit li (4.99) nh sau:
e = Ae + b f ( x | f ) f ( x | f ) + g ( x | g ) g ( x | g ) u I + w
{[
] [
(4.103)
Thay (4.93) v (4.94) vo (4.102) ta c phng trnh ng hc vng kn

din t mi lin h gia sai s e v thng s f v g.
e = Ae + b ( f f ) T ( x) + ( g g ) T ( x)u I + w
(4.104)
Ta cn tm lut thch nghi chnh nh f v g sao cho cc tiu ho e,

f f , g g . Xt phng trnh lyapunov:
V =
1
1 T
1
e Pe +
( f f ) T ( f f ) +
( g g ) T ( g g )
2
2 1
2 2
(4.105)
vi 1 v 2 l cc hng s dng, P tho phng trnh:

ATP + PA = - Q
vi Q l ma trn n n , xc nh dng.
Ly o hm V dc theo qu o h thng ta c:
Trang 61
1
1
V = e T Pe + e T Pbw + ( f f ) T f + 1e T Pb ( x)
2
1
+
( g g ) T g + 2 e T Pb ( x)u I
(4.106)
cc tiu ho e, f f , g g , tng ng cc tiu V, ta chn lut

thch nghi sao cho V < 0 . Dng phng php tng hp Lyapunov ta chn:
f = 1e T Pb ( x)
(4.107)
g = 2 e T Pb ( x)u I
(4.108)
Hai phng trnh (4.107) v (4.108) chnh l lut thch nghi cn tm.
V d 4.6.2.1
Lm li v d (4.6.1.4) iu khin con lc ngc c s dng phng php
m thch nghi gin tip v so snh kt qu t c.
Nhn xt : Khi khng c tn hiu iu khin, tc u = 0 th gia tc ca gc
=x1 tng ng f(x1,x2). Vy ta c nhn xt:
x1 cng ln th f(x1,x2) cng ln
T hnh v m hnh con lc ngc ta thy gia tc ca x1 t l vi mgsin(x1),

ta c th chn f(x1,x2)=sin(x1). T (4.43) ta c th chn = 16. Ta c
lut m cho f(x1,x2) nh sau:
R 1f : Nu x1=F13 v x2=F13 Th f(x1,x2)=0
R 2f : Nu x1=F11 v x2=F13 Th f(x1,x2)=-8
R 3f : Nu x1=F12 v x2=F13 Th f(x1,x2)=-4
R 4f : Nu x1=F14 v x2=F13 Th f(x1,x2)=4
R 5f : Nu x1=F15 v x2=F13 Th f(x1,x2)=8
Tip theo ta xc nh lut m cho hm g(x1,x2), hm g xc nh mnh

ca lut iu khin u, ta c nhn xt sau:
x1 cng nh th g(x1,x2) cng ln
T cc nhn xt trn ta c lut m cho hai hm f v g nh sau:
http://www.khvt.com
Chng 4 : iu khin m
F11
F12
F13
F14
F15
x2
-/6
x1
x2
F11
F12
F13
F14
F15
-/12
F11
f(x1,x2)
F12 F13 F14
F15
-8
-8
-8
-8
-8
-4
-4
-4
-4
-4
8
8
8
8
8
0
0
0
0
0
4
4
4
4
4
/12
0
x1
x2
F11
F12
F13
F14
F15
/6
x1
F11
g(x1,x2)
F12 F13
F14
F15
1.26
1.26
1.26
1.26
1.26
1.36
1.36
1.36
1.36
1.36
1.36
1.36
1.36
1.36
1.36
1.26
1.26
1.26
1.26
1.26
1.46
1.46
1.46
1.46
1.46
Vit chng trnh M-file hay dng simulink ca Matlab m phng kt

qu v d trn.
2. Tht k BK m thch nghi trc tip
1.M hnh
Hnh 4.34
u=uD
ym
I TNG
x(n) = f(x) + bu, y = x
BK M
uD = T(x)
iu kin u
(0)
LUT THCH NGHI

= e T p n (x)
Trang 63
Phng trnh trng thi m t i tng

x ( n ) = f ( x, x ,..., x ( n 1) ) + bu
(4.109)
y=x
(4.110)
Trong f l hm bit b l hng s dng cha bit. Ta cn thit k

BK u = uD(x|) da trn h m v lut thch nghi chnh nh thng s
. Lut m c dng nh sau:
NU x1 = P1r v v xn = Pnr , TH u = Qr
(4.111)
Trong Pi r v Qr l cc tp m, r = 1,2,,Lu.
2.Thit k BK m
+ Bc 1: Vi mi bin xi (i=1,2,,n) ta nh ngha mi tp m Aili
(li=1,2,,mi) .
+ Bc 2: Xy dng h m uD(x|) t
i =1
mi lut dng:
IF x1= A1l1 and and xn= A1ln , THEN uD = S l1 ...ln
(4.112)
Trong li = 1,2,,mi, i = 1,2,..,n. S dng lut hp thnh tch, m ho

singleton, gii m theo phng php trung bnh trng s, ta c:
uD
... y [
(x | ) =
... [
m1
mn
l1 =1
l n =1
m1
l1 =1
l1 ...l n
u
mn
l n =1
i =1
A ( x i )]
i =1
Aili
li
i
( x i )]
(4.113)
Chn y ul1 ...ln nh thng s c th chnh nh v ta a y ul1 ...ln vo thnh phn

ca vct thng s , t lut iu khin c xc nh:
u D ( x | ) = T ( x)
(4.114)
3.Thit k lut thch nghi

Xem u* nh l BK l tng (4.89) trong phn (4.6.2.1), vi g(x) = b, ta
c:
e ( n ) = k T e + b[u u D ( x | )]
(4.115)
Ma trn A c nh ngha nh (4.98), b = (0,,0,b)T, ta vit li (4.115)

dng vct nh sau:
e = Ae + b[u u D ( x | )]
nh ngha thng s ti u * :
http://www.khvt.com
(4.116)
Chng 4 : iu khin m
= arg min sup u D ( x | ) u

R
xR n
(4.117)
vi = i =1 mi
n
t :
w = uD(x|*) u*
(4.118)
T (4.114) v (4.118) ta vit li (4.116) nh sau:

e = Ae + b( ) T ( x) bw
(4.119)
Xt phng trnh Lyapunov

V =
b
1 T
e Pe +
( ) T ( )
2
2
(4.120)
trong P l ma trn xc nh dng tho:

AT P + PA = Q
(4.121)
o hm (4.120) v s dng cc biu thc (4.119) v (4.121) ta c:

1
b
V = e T Qe + e T Pb[( ) T ( x) w] ( ) T
2
(4.122)
Xem pn l ct cui ca ma trn P, t b = (0,,0,b)T, ta c eTPb = eTpnb. Ta

vit li (4.122) nh sau:
1
b
V = e T Qe + ( ) T [e T p n ( x) ] e T p n bw
2
T (4.123) tho mn V < 0 ta chn lut thch nghi nh sau:
= e T p (x)
n
(4.123)
(4.124)
V d (4.6.2.2)
Cho h thng phi tuyn bc nht:

1 e x (t )
+ u (t )
1 + e x (t )
Thit k BK m thch nghi trc tip d a x(t) hi t v zero.
x (t ) =
(*)
1 e x (t )
1 e x (t )

x
t
=
<
0
khi
x<0
v
(
)
> 0 khi x>0
1 + e x (t )
1 + e x (t )
nn h (*) l khng n nh.
Khi u(t) 0 th x (t ) =
Chn = 1 v nh ngha cc tp m nh sau:
Trang 65
Xy dng 2 lut m nh sau:

NU x=N2, TH u(x) = PB
NU x=P2, TH u(x) = NB
Trong PB(u)= exp(-(u-2)2) v NB(u)= exp(-(u+2)2).
Vit chng trnh Matlab hoc dng simulink thy c p ng trong
hai trng hp c v khng c lut m.
ng dng :
Xy dng BK tc ng c DC
M HNH BK TC NG C DC
My tnh
(B iu khin m
thch nghi trc tip)
Tc mong mun ym
COM
Vi x l
(AT89C52)
PWM
ng c DC
Tc thc y
Hnh 4.35
http://www.khvt.com
Encoder
Chng 4 : iu khin m
M hnh gm c :
1. ng c DC 14V, tc Max 2100vng/pht, lm vic khng ti.

2. Cm bin tc Incremental 200xung/vng.
3. Vi x l AT89C52, tn s xung clock 11.059MHz, chu k my
12
TVXL =
( s ) , c nhim v o tc ng c gi v my tnh
11.059.000
iu khin p cp cho ng c bng phng php PWM.
4. Chu k PWM = 1024 TVXL (1.1ms), chu k ly mu
46.080TVXL (50ms), tc port ni tip 19200Kbps.
ym y
. Khi
ym
sai lch 1% th = 0, khi <1% th = 0/10, vi 0 chn trc.
5. H s thch nghi thay i tu thuc vo sai lch =
Xy dng BK m thch nghi trc tip
1. Xc nh bin ngn ng
Hai ng vo:
Tc x1 (vng/pht), c tm gi tr t 02000vng/pht, c
chun ho v [01].
Hm thuc 1i ( x1 ) dng Gaussian, vi i=1m1, m1 l s lng tp m
Gia tc x2 (vng/pht/giy), c tm gi tr t - 45004500(v/p/g),
c chun ho v [-11].
Hm thuc 2j ( x 2 ) dng Gaussian,vi j=1m2, m2 l s lng tp m
Mt ng ra:
rng xung PWM (%), k hiu l u, c tm gi tr 0100%.
Hm thuc dng Singleton i,j, vi i=1m1, j=1m2.
Trang 67
Hnh 4.36: Cc tp m 2j ( x) ca bin ngn

ng gia tc.
Bng lut hp thnh:
BIN NGN NG GIA TC
22 (x 2 )
32 (x 2 )
2 2 (x 2 )
1,1
1,2
1,3
1,m2
2,1
2,2
2,3
2,m2
13 (x 1 )
3,1
3,2
3,3
3,m2
m1 , j
m1 ,2
m1 ,3
11 (x 1 )
BIN
12 (x1 )
NGN
NG
TC
12 (x 2 )
1 1 (x 1 )
m
m1 , j
2. Lut hp thnh:
Xt lut hp thnh th (i,j), vi i = 1m1, j = 1m2
IF x1 1i ( x1 ) AND x 2 2i ( x 2 ) THEN u = i , j
3. Gii m:
Chn thit b hp thnh Max Product , phng php gii m cao.
Gi tr r u ra PWM iu khin ng c:
http://www.khvt.com
Chng 4 : iu khin m
m1 m2
i, j .1i (x 1 ). 2j (x 2 )
u=
i=1 j=1
m1 m2
(4.125)
1i (x 1 ). 2j (x 2 )
i=1 j=1
4. Lut cp nht thng s:
i, j = .E T .p 2 . i, j ( x 1 , x 2 )
i, j (k + 1) = i, j (k ) + i
(4.126)
Trong :
i,j : Thng s cn cp nht lut hp thnh th (i,j).
E = (e, e) : Vct sai s, vi sai s e = ym y , vi ym l vn tc t.
p2 : l ct th 2 ca ma trn P c c t phng trnh Ricatti (4.121).
0 1
A=
, k1, k2 c chn sao cho phng trnh
k1 k 2
s2+k1s+k2=0 c nghim nm bn tri mt phng phc. Cc th nghim
trong bi c chn vi s = 0.1 j 20 .
Vi
>0 l h s cp nht
i, j (x 1 , x 2 ) =
1i (x 1 ). i2 (x 2 )
m1 m2
: h s xc nh t v IF ca lut
1k (x 1 ). l2 (x 2 )
k =1 l=1
hp thnh th (i,j).
Kt qu m phng v nhn xt:
Ghi ch : Trong cc th bn di, ng lin nt l tc mong mun
ym ng cn li l tc thc.
2
t ) , i,j = 20, vi
120
i = 1m1, j = 1m2. Cc tp m cho bi Hnh 4.36 v Hnh 4.37
Trng hp 1:
Chn 0 = 0.5; y m = 1400 + 500 sin(
Trang 69
Hnh 4.37: Cc tp
m 1i ( x) ca bin
ngn ng tc .
b. Sai s ng ra
a. Gi tr PWM
c. p ng ng ra ca m
d. p ng c phng to
Hnh 4.38: Kt qu iu khin ca Trng hp 1.
http://www.khvt.com
Chng 4 : iu khin m
Nhn xt: T cc th Hnh 4.38 ta thy rng:
tc thp, gi tr PWM thay i t nhng tc thay i nhiu;
tc cao gi tr PWM thay i nhiu nhng tc thay i t.
B iu khin m ban u c thit k m khng da trn nhiu
thng tin v i tng, nhng cht lng iu khin l kh tt d i
tng l phi tuyn.
a. p ng trng hp 2a
b. p ng trng hp 2b
c. Sai s trng hp 2a
d. Sai s trng hp 2b
Hnh 4.39: Kt qu iu khin ca Trng hp 2
Trang 71

Trng hp 2: 0 = 0.5 ; y m = 1400 + 500 sin(
2
t ) ( trng hp 2a) v
30
2
t ) (trng hp 2b); i,j = 20, vi i = 1..5, j = 1..5.
60
Cc tp m vn nh trng hp 1. (Xem kt qu Hnh 4.39)
y m = 1400 + 500 sin(
Nhn xt: Vi cng h s cp nht v cc gi tr ban u I,j, khi tc

mong mun ym bin thin nhanh hn th tc thc y khng bm theo kp
dn n sai s ln. Do lut cp nht ph thuc vo ym nn ta cn hiu chnh
li thng s 0 cho ph hp.
a. p ng khi 0 = 0.2
b. p ng khi 0 = 0.5
c. p ng khi 0 = 0.8
d. p ng khi 0 = 1.2
Hnh 4.40: Kt qu iu khin Trng hp 3
http://www.khvt.com
Chng 4 : iu khin m
Trng hp 3: i,j = 20; vi i =1..5, j = 1..5; y m = 1400 + 500 sin(
tp m nh Trng hp 1, 0 ln lt l 0.2, 0.5, 0.8, 1.2.
2
t ) , cc
60
Nhn xt:
Vic tng 0 s lm cho lut cp nht nhy hn vi sai s, do vy p
ng h thng s tt hn.
Tuy vy tc thp, khi 0 tng s lm cho tc ng c b dao
ng ln hn. S dao ng t l thun vi vic tng 0 .
Bng kinh nghim qua cc trng hp xt ta thy rng p ng tc
ph thuc vo nhiu yu t nh: s lng tp m, h s 0, i,j, tc bin
thin ca tc mong munT ta a ra vic la chn cc thng s
cho ph hp ti u p ng ca h thng.
2
t ) ; i,j c chn nh bng
60
bn di, s dng 7 tp m cho bin tc v 5 tp m cho bin gia tc.
Trng hp 4: 0 = 2.5; y m = 1400 + 500 sin(
BIN NGN NG GIA TC
11 ( x1 )
BIN
NGN
NG
TC
12 (x1 )
13 (x1 )
14 ( x1 )
15 ( x1 )
16 ( x1 )
17 ( x1 )
21 (x2 )
22 ( x2 )
23 ( x2 )
14 ( x1 )
25 ( x 2 )
10
10
10
10
10
10
10
10
10
10
20
20
20
20
20
30
30
30
30
30
45
45
45
45
45
60
60
60
60
60
80
80
80
80
80
Trang 73
c. p iu khin (%PWM)
a. p ng ng ra (0..1200s)
d. Sai s ng ra
b. p ng c phng to
Hnh 4.41: Kt qu iu khin trng hp 4
Kt lun chung
i tng ng c DC c iu khin bng phng php PWM l i

tng phi tuyn. Mt BK m thch nghi c thit k hp l s iu khin
tc ca ng c bm theo nhiu dng tc mong mun khc nhau.
Nhng kinh nghim, thng tin bit v i tng s rt hu ch trong vic
tm ra BK thch nghi ti u.
Cc thng s quyt nh cht lng h thng l : h s 0, gi tr ban u i,j,
tn hiu mong mun ym Vi mi thng s c mt tc dng ring, vic tm
ra b thng s ti u cn da vo kinh nghim v kin thc v h thng iu
khin.
http://www.khvt.com
Chng 4 : iu khin m
4.7. H thng iu khin tch hp

Ngnh iu khin hc ra i v pht trin t rt sm, c bit l trong 2
thp nin gn y vic ng dng L thuyt m v Mng nron to ra
nhiu phng php iu khin mi vi c tnh linh hot v thng
minh hn. Cng ngh m v cng ngh mng nron l hai tr ct chnh
to nn cng ngh tch hp mi, cng ngh tnh ton mm (Soft computing).
4.7.1. Khi nim
Mt s phng php c s dng trong ngnh iu khin hc:

K Kinh in & Hin i
K Thng minh
PID
GA
Ti u
Nron
Thch nghi
Bn vng
Mi phng php u c nhng im mnh v hn ch nht nh, v vy

ngi ta thng c xu hng kt hp chng li vi nhau to ra mt m
hnh iu khin c kh nng p ng cao vi cc i hi thc t. Vic kt
hp ny cho ra mt phng php iu khin mi l iu khin tch
hp.
iu khin tch hp : iu khin kt hp phng php kinh in hoc hin
i vi phng php iu khin thng minh.
4.7.2. Mt s h thng tch hp
iu khin s dng PID m
iu khin m - thch nghi, m - ti u.
S dng h m - nron nhn dng & ti u h thng.
ng dng thut ton GA trong thit k h thng iu khin.
..
phn 4.3 ta trnh by v cch thit k b PID m, phn 4.6 ni
v vic tch hp cng ngh m trong iu khin. Sau y ta trnh by v
ng dng gii thut GA trong iu khin thng qua mt v d.
Trang 75

4.7.3. ng dng thut ton GA thit k b iu khin PID ti u H2/H
1. M t bi ton
Da vo hai bi ton cc i ha d tr n nh v cc tiu ha hm

nhy ca iu khin ti u H, bi ton thit k b iu khin PID ti u
H2/H c m t nh sau.
Cho h thng iu khin PID nh trong hnh 4.42. M hnh P(s) ca i
tng trong bi ton ny c gi thit l c mt sai lch 0(s) c biu
din theo m hnh sai s nhn u ra.
C(s)
[1+0(s)] P0(s)
Hnh 4.42: H thng iu khin PID vi sai s nhn u ra

B iu khin PID c dng nh sau:
C (s ) = k 1 + k 2 / s + k 3 s
(4.127)
Sai s m hnh 0(s) c xem nh n nh nhng khng bit r rng.Gi
s 0(s) b chn nh sau:
0 ( j ) < 0 ( j ) ,
[0, ),
(4.128)
0 (j) l hm chn trn ca 0(j), n nh v bit trc.

Kt qu n nh bn vng cho thy rng nu b iu khin C(s) c chn
sao cho h thng danh nh vng kn (khng tnh 0(s)) trong hnh 4.42 n
nh tim cn v tha mn bt ng thc sau:
PO ( s )C ( s ) O ( s )
I + PO ( s )C ( s )
http://www.khvt.com
<1
(4.129)
Chng 4 : iu khin m
th h thng vng kn trong hnh 4.42 cng n nh di tc ng ca sai s
m hnh 0(s). Bt ng thc (4.129) chnh l iu kin n nh bn vng
(chun H) ca h thng.
Trong ch tiu cht lng thng c s dng kt hp vi iu khin
ti u H l ch tiu tch phn ca bnh phng sai lch (ISE) hay cn gi l
phim hm H2:
min e 2 (t )dt
C
(4.130)
vi e(t) l sai s iu chnh trong h thng hnh 4.42.

Nh vy, mc tiu ca bi ton tng hp b iu khin PID kt hp vi iu
khin ti u H2/H l tm b iu khin PID sao cho cc tiu (4.130), ng
thi tha mn iu kin rng buc n nh bn vng (4.129).
Tng t, i vi bi ton cc tiu ha hm nhy gim nh hng ca
nhiu n cht lng ca h
1
1 + P( s )C ( s )
(4.131)
vi l mt gi tr v hng nh hn 1. c trng cho mc nh hng

ca nhiu tc ng n tn hiu ra ca h.
gim nh hng ca nhiu trong dy tn s m nhiu tp trung th iu
kin (4.131) tr thnh:
W ( s)
1 + P( s )C ( s )
(4.132)
vi W(s) l hm trng gim nh hng ca nhiu trong dy tn m nhiu

tp trung.
Nh vy, i vi bi ton cc tiu ha hm nhy, vic xc nh BK PID
kt hp vi iu khin ti u H2/H l tm b iu khin PID sao cho cc
tiu (4.130), ng thi tha mn rng buc n nh bn vng (4.132).
2. C s thit k
Trang 77

Trong trng hp bnh thng i vi h danh nh (khng xt n sai s
m hnh ca i tng cng nh nhiu d), tn hiu sai s iu chnh E(s),
trong h thng hnh 4.42 c dng nh sau:
E ( s) =
R( s)
1 + P0 ( s )C ( s )
(4.133)
Theo nh l Parseval, chun bc hai ca mt tn hiu x(t) v nh Fourier

X(j) ca n c quan h nh sau:
x(t )
2
2
1
= x(t ) dt =
2
X ( j
(4.134)
V vy ta c:
J = min e 2 (t )dt
C
1
2
E ( j )
thay s = j ta c:
j
1
E ( s ) E ( s )ds
k1 , k 2 , k3 2j
j
J = min
1
R ( s ) R( s )
ds
k1 , k 2 , k3 2j
+
+
[
1
P
(
s
)
C
(
s
)][(
1
P
(
s
)
C
(
s
)]
j
= min
1
B( s ) B( s )
ds
k1 , k 2 , k3 2j
A
(
s
)
A
(
s
)
j
= min
(4.135)
m
A(s) v B(s) c th c biu din nh sau: A( s ) = a k s k ,

k =0
m 1
B( s ) = bk s k ; phng trnh (4.20) c vit li nh sau:

k =0
http://www.khvt.com
Chng 4 : iu khin m
m 1 k m 1
k
j bk s bk ( s )
1
k =0
k =0
ds (4.136)
J m ( k1 , k 2 , k 3 ) =
m
2j j m
a k s k a k ( s ) k
k =0
k =0
Vic xc nh J trong (4.136) c th c tnh mt cch n gin bng l

thuyt thng d nh sau:
-
Xc nh tt c cc im cc pk ca E(s).
J = Re s E ( s ) E ( s )
k
pk
Gi tr ca Jm(k1, k2, k3) c th tm c trong Newton, 1957.

b02
J 1 ( k1 , k 2 , k 3 ) =
2a 0 a1
b12 a0 + b02 a 2
J 2 ( k1 , k 2 , k 3 ) =
2a 0 a1 a 2
J 3 ( k1 , k 2 , k 3 ) =
J4 =
b22 a 0 a1 + (b12 2b0 b2 )a 0 a3 + b02 a 2 a3

2a0 a3 ( a 0 a3 + a1 a 2 )
b32 (a02a3 + a0a1a2 ) + (b22 2b1b3 )a0 a1a4 + (b12 2b0b2 )a0 a3a4 + b02 (a1a42 + a2 a3a4 )
2a0 a4 (a0 a32 a12 a4 + a1a2a3 )
Phim hm H2 c dng nh sau:

J m = min J m (k1 , k 2 , k 3 )
k1 , k 2 , k 3
(4.137)
vi Jm(k1, k2, k3) l hm s ca cc thng s PID (k1, k2, k3), v m l bc ca

i tng.
T nh ngha chun H:
A( s )
sup A( j )
( 0 , )
(4.138)
iu kin n nh bn vng (4.129) c vit li nh sau:
Trang 79

P0 ( s )C ( s ) 0 ( s )
1 + P( s) 0 C ( s)
= sup
[ 0 , )
P0 ( j ) P0 ( j )C ( j )C ( j ) 0 ( j ) 0 ( j )
(1 + P0 ( j )C ( j ))(1 + P0 ( j )C ( j ))
= sup
( )
=
( )
( )
<1
[ 0 , ) ( )
sup
(4.139)
[ 0 , )
Vi () v () l nhng a thc thch hp ca . ngha ca (4.139) l

nu gi tr ln nht ca ()/() nh hn 1, th h thng trong hnh 4.42
n nh vi mi 0 ( j ) < 0 ( j ) .
Vic qut trong [0,) tm gi tr ln nht ca ()/() trong (4.139)
khng phi l cng vic d dng. Thc t, gi tr ln nht ca ()/() ch
xy ra nhng im tha mn phng trnh sau:
d ( )
=
d ( )
( )
d ( )
d ( )
( )
d
d = 0
2
( )
Do , ch cn tm nghim i ca phng trnh:

n
d ( )
d ( )
( )
( )
= ( i ) = 0
d
d
i =1
(4.1340)
(4.141)
Vi kt qu trn, rng buc n nh bn vng (4.129) tng ng vi:

max
i
( i )
<1
( i )
(4.142)
T s phn tch trn, bi ton thit k b iu khin PID, kt hp H2/H tr

thnh bi ton xc nh b iu khin PID cc tiu (4.137) di rng
buc n nh bn vng (4.142).
Tng t nh trn, i vi bi ton cc tiu ha hm nhy th rng buc
(4.132) c chuyn i sang dng (4.141) nh sau:
max
i
( i )
( i )
http://www.khvt.com
(4.143)
Chng 4 : iu khin m
3. Phng php thit k
Phn ny s trnh by phng php xc nh cc thng s (k1, k2, k3) ca b

iu khin PID cho hai bi ton trn bng thut ton di truyn, sao cho t
c gi tr cc tiu ca phim hm H2, ng thi tha mn rng buc n
nh bn vng H.
3.1. Biu din nhim sc th
Thut ton di truyn lm vic trn cc nhim sc th (nhng chui s), ch

khng phi chnh bn thn thng s . Mi tp thng s (k1, k2, k3) ca b
iu khin PID s c m ha v ghp li thnh mt nhim sc th. Vic
m ha c th c thc hin bng nhng chui s nh phn hoc thp phn.
Trong lun vn ny, s dng phng php m ha thp phn.
3.2. Hm thch nghi v hm nh gi
Hm nh gi c nh ngha nh sau:
E (k1 , k 2 , k 3 ) = J m (k1 , k 2 , k 3 ),
k1 , k 2 , k 3 D (4.144)
V phi ca (4.144) l phim hm H2 m chng ta mun cc tiu, hm nh

gi ch c xc nh trong min n nh (D) ca h thng.
Mc tiu ca chng ta l tm (k1, k2, k3) trong D cc tiu (4.144). Tng
ng vi mi nhim sc th ta s c c mt gi tr ca hm nh gi
E(k1,k2, k3). Sau gi tr nh gi c nh x thnh gi tr thch nghi
F(k1,k2, k3) cho ph hp vi thut ton di truyn (tm kim gi tr cc
i). Qu trnh tm kim gi tr nh nht ca Jm(k1, k2, k3) tng ng vi qu
trnh tm kim gi tr ln nht ca F(k1, k2, k3). Nhim sc th c Jm(k1, k2,k3)
nh hn s c gi tr thch nghi ln hn. Sau mi th h, thut ton di truyn
s to ra nhng con chu tt hn, ci thin gi tr thch nghi, do nu
thch nghi ca thut ton di truyn tt hn th s tm c mt b iu khin
PID tt hn. V vy ta c:
F ( k1 , k 2 , k 3 )
1
E ( k1 , k 2 , k 3 )
(4.145)
Trang 81

C mt s phng php thc hin s lin h gia hm nh gi v hm
thch nghi trong (4.145). y mi lin h gia hm thch nghi v hm
nh gi c biu din nh sau:
E (k1 , k 2 , k 3 ) + b khi
F ( k1 , k 2 , k 3 ) =
0
khi
max
i
( i )
<1
(i )
( i )
max
1
(i )
(4.146)
y du tr c s dng chuyn bi ton cc tiu thnh bi ton cc

i, gi tr ca b c chn sao cho gi tr ca hm thch nghi lun lun
dng. i vi cc nhim sc th khng tha mn iu kin (4.142) hoc
(4.143), gi tr ca hm thch nghi s c gn bng 0 (gi tr nh nht), v
vy cc nhim sc th ny s khng tn ti trong th h sau.
3.3. Cc bc thc hin
T s phn tch trn, qu trnh thit k bao gm cc bc sau:

(1) Bc 1: p dng tiu chun Routh Hurwitz, xc nh iu kin ca cc
h s PID h thng vng kn n nh.
(2) Bc 2: Xc nh min n nh (D) ca ba thng s (k1, k2, k3).
(3) Bc 3: Thit lp cc thng s ca thut ton di truyn: xc sut lai, xc
sut t bin, kch thc qun th, s th h ti a, iu kin dng,
(4) Bc 4: Khi to qun th, m ha nhim sc th.
(5) Bc 5: Tnh i t phng trnh (4.141).
(6) Bc 6: Tnh gi tr thch nghi cho tng c th theo biu thc (4.146).
(7) Bc 7: Thc hin cc php ton di truyn.
(8) Bc 8: Kim tra iu kin dng, nu iu kin dng cha tha mn th
quay li bc 5.
3.4. Gii thut chng trnh
Gii thut chnh ca chng trnh xc nh cc thng s ca b iu khin

PID ti u H2/H
http://www.khvt.com
Chng 4 : iu khin m
Lu gii thut chng trnh ti sinh
Bat au
i=1
Tao ngau nhien mot gia tr nam

trong khoang 0 en tong gia tr
thch nghi (pointer)
j=1
total = fitness(1)
total<pointer
j = j+1
total = total+fitness(j)
Nhiem sac the j c chon
i = i+1
i=pop_size?
Y
Ket thuc
Trang 83

Lu gii thut chng trnh lai
Bat au
i=1
Chon cap nhiem sac the ngau

nhien trong quan the
Chon xac suat lai ngau nhien
Thoa xac suat lai?
Chon v tr lai ngau nhien

Chuyen oi cac gen nam sau v tr
lai
i=i+1
i=pop_size?
Y
Ket thuc
http://www.khvt.com
Gi nguyen
Chng 4 : iu khin m
Lu gii thut chng trnh t bin
Bat au
i=1
j=1
Chon xac suat ot bien ngau nhien
Thoa xac suat?
ot bien
j=j+1
j=chieu dai nhiem

sac the?
Y
i=i+1
i=pop_size?
Y
Ket thuc
Trang 85

4. V d minh ho
thy c kt qu ca thut ton thit k b iu khin PID kt hp vi

iu khin ti u H2/H, trong phn ny th tc thit k c thc hin
tng ng vi hai trng hp i tng c sai s m hnh v i tng b
nh hng ca nhiu ngoi.
1. Trng hp i tng c sai s m hnh
Cho h thng nh hnh 4.42, i tng P0(s) c hm truyn nh sau:

1.8
P0 ( s ) = 2
s ( s + 2)
Sai lch m hnh 0(s), b chn nh sau:
0 (s)
0.1
s + 0.1s + 10
2
Vi ng vo l hm nc, th
E ( s) =
s 2 ( s + 2)
s 4 + 2 s 3 + 1.8k 3 s 2 + 1.8k1 s + 1.8k 2
Rng buc n nh bn vng:
( )
<1
[ 0 , ) ( )
max
vi
( ) = 0.0324[(k 2 k 3 2 ) 2 + k12 2 ]
( ) = ( 4 19.99 2 + 100)[( 4 1.8k3 2 + 1.8k2 ) 2 + 2 (2 2 1.8k1 ) 2 ]

Trong v d ny ta c m = 4, v vy phim hm H2 ca h thng l J4:
b32 (a02a3 + a0a1a2 ) + (b22 2b1b3 )a0a1a4 + (b12 2b0b2 )a0a3a4 + b02 (a1a42 + a2a3a4 )
2a0a4 (a0a32 a12a4 + a1a2a3 )
1.8k1k3 2k2 + 4
J4 =
7.2k1k3 3.6k12 8k2
J4 =
Thut ton di truyn bt u bng vic to ngu nhin mt qun th bao

gm 200 nhim sc th, sau 15 th h, tm c b iu khin PID thch hp
vi cc thng s nh sau, k1 = 3, k2 = 0.1, k3 = 30.
http://www.khvt.com
Chng 4 : iu khin m
Gi tr tt nht ca ba thng s PID v phim hm H2 sau mi th h

Th h 1
Th h 2
Th h 3
Th h 4
Th h 5
Th h 6
Th h 7
Th h 8
Th h 9
Th h 10
Th h 11
Th h 12
Th h 13
Th h 14
Th h 15
K1
k2
K3
J4
3.6651
3.8436
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
9.6770
1.7971
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
24.5629
29.3725
26.3050
26.3050
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
0.2808
0.2732
0.2726
0.2726
0.2697
0.2697
0.2697
0.2697
0.2697
0.2697
0.2697
0.2697
0.2697
0.2697
0.2697
Hnh 4.43: Chun H2
Trang 87

-
p ng nc ca h thng trong th h 1:
1.8
1.6
1.4
Bien do
1.2
1
0.8
0.6
0.4
0.2
0
50
100
150
Thoi gian
200
250
300
Hnh 4.44: p ng nc ca h thng trong th h th nht

(k1 = 3.8436, k2 = 1.7971, k3 = 24.5629)
1.5
1
Bien do
0.5
50
100
150
Thoi gian
200
250
300
Hnh 4.45: p ng nc ca h thng trong th h th hai

(k1 = 3.6651, k2 = 9.677, k3 = 29.3725)
http://www.khvt.com
Chng 4 : iu khin m
1.4
1.2
Bien do
0.8
0.6
0.4
0.2
50
100
150
Thoi gian
200
250
300
Hnh 4.46: p ng nc ca h thng trong th h th nm (h danh nh)
1.4
1.2
Bien do
0.8
0.6
0.4
0.2
50
100
150
Thoi gian
200
250
300
Hnh 4.47: p ng hm nc ca h th h th nm (c sai s m hnh)
Trang 89
1.4
1.2
Bien do
0.8
0.6
0.4
0.2
0
0
50
100
150
Thoi gian
200
250
300
Hnh 4.48: p ng nc ca h thng trong th h th nm, v chung cho

hai trng hp, (k1 = 3, k2 = 0.1, k3 = 30)
S hi t ca phim hm H2 c trnh by trong hnh 4.43. p ng nc
ca h thng c trnh by cho hai trng hp: h danh nh (hnh 4.46) v
h thng c sai s m hnh (hnh 4.47). Kt qu cho thy b iu khin c
thit k c th iu khin thnh cng h thng vi mi 0(s).
2. Trng hp h thng chu nh hng ca nhiu ngoi
Cho h thng iu khin nh hnh 4.50, i tng P(s) c hm truyn nh

sau:
P( s) =
1.8
s ( s + 2)
2
Nhiu ngoi d(t) gi s bng 0.1sint. p dng bi ton cc tiu ha hm

nhy vi = 0.1.
Tng ng vi d(t) trn, hm trng W(s) trong (4.132) c chn nh sau:
http://www.khvt.com
Chng 4 : iu khin m
W (s) =
1
s +1
Ta c:
s 3 ( s + 2)
( s + 1)( s 4 + 2s 3 + 1.8k 3 s 2 + 1.8k1 s + 1.8k 2 )
0.1
Rng buc (4.28):
( )
[ 0 , ) ( )
max
vi
( ) = 6 ( 2 + 4)
( ) = (1 + 2 )[( 4 1.8k 3 2 + 1.8k 2 ) 2 + 2 (2 2 1.8k1 ) 2 ]
Tng t nh v d trc, phim hm H2 ca h thng l J4:

1.8k1k3 2k2 + 4
J4 =
7.2k1k3 3.6k12 8k2
Thut ton di truyn bt u bng vic to ngu nhin mt qun th bao
gm 200 nhim sc th, sau 19 th h, tm c b iu khin PID thch hp
vi cc thng s nh sau, k1 = 3, k2 = 0.1, k3 = 30.
0.284
0.282
0.28
Chuan H2
0.278
0.276
0.274
0.272
0.27
0.268
0
10
The he
12
14
16
18
20
Hnh 4.49: Chun H2
Trang 91

Gi tr tt nht ca ba thng s PID v phim hm H2 sau mi th h
k2
9.6770
9.6769
17.6599
9.6768
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
0.1000
k1
3.6651
3.6651
3.0000
3.6650
3.8635
3.8635
3.8635
3.8630
3.1635
3.1634
3.1634
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
3.0000
Th h 1
Th h 2
Th h 3
Th h 4
Th h 5
Th h 6
Th h 7
Th h 8
Th h 9
Th h 10
Th h 11
Th h 12
Th h 13
Th h 14
Th h 15
Th h 16
Th h 17
Th h 18
Th h 19
K3
24.5629
24.5628
27.9843
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
30.0000
J4
0.2808
0.2808
0.2781
0.2742
0.2724
0.2724
0.2724
0.2724
0.2701
0.2701
0.2701
0.2697
0.2697
0.2697
0.2697
0.2697
0.2697
0.2697
0.2697
d
r
u
C(s)
P(s)
Hnh 4.50 H hi tip vi nhiu u ra
http://www.khvt.com
Chng 4 : iu khin m
-
1.8
1.6
1.4
Bien do
1.2
1
0.8
0.6
0.4
0.2
0
50
100
150
Thoi gian
200
250
300
Hnh 4.51: p ng nc ca h thng trong th h th nht

(k1 = 3.8436, k2 = 9.6768, k3 = 30)
1.8
1.6
1.4
1.2
Bien do
1
0.8
0.6
0.4
0.2
0
0
50
100
150
Thoi gian
200
250
300
Hnh 4.52: p ng nc ca h thng trong th h th t

(k1 = 3.6650, k2 = 1.7971, k3 = 24.5629)
Trang 93

-

1.4
1.2
Bien do
0.8
0.6
0.4
0.2
50
100
150
Thoi gian
200
250
300
Hnh 4.53: p ng nc ca h thng trong th h th 12 (h danh nh)

1.2
Bien do
0.8
0.6
0.4
0.2
-0.2
50
100
150
Thoi gian
200
250
300
Hnh 4.54: p ng nc ca h thng trong th h th 12 (c nhiu ngoi)
http://www.khvt.com
Chng 4 : iu khin m
1.2
Bien do
0.8
0.6
0.4
0.2
-0.2
0
50
100
150
Thoi gian
200
250
300
Hnh 4.55: p ng nc ca h thng trong th h th 12, v chung cho hai

trng hp, (k1 = 3, k2 = 0.1, k3 = 30)
S hi t ca phim hm H2 c trnh by trong hnh 4.50. p ng nc

ca h thng c trnh by cho hai trng hp: h danh nh (hnh 4.53) v
h thng c nh hng ca nhiu (hnh 4.54). Kt qu cho thy b iu
khin c thit k c th iu khin thnh cng h thng vi nh hng
ca nhiu ngoi, p ng trong hai trng hp gn trng vi nhau.
Trang 95
CU HI N TP V BI TP
1. Nu r m hnh iu khin m theo Mamdani v theo Tagaki/Sugeno. So
snh u nhc im hai m hnh .
2. Cc bc thit k mt b iu khin m. V sao ni iu khin m l iu
khin da trn kinh nghim ?
3. Nguyn l chnh nh thng s ca b PID m. ng dng trong iu
khin nhit .
4. Th no l mng nron nhn to ? Nu ni dung ca thut ton lan truyn
ngc.
5. V sao phi kt hp mng nron v h m ? Nu s kiu mu ca mt
h m - nron. ng dng mng RBF trong nhn dng h thng phi tuyn.
6. Thit k mt BK m iu khin nhit . B m c 2 ng vo l sai
lch e(t) [ET] v o hm sai lch de(t) [DET], mt ng ra l o hm cng
sut [DP]. Bit rng:
- L nhit c cng sut l 5KW, tm o max l 2000C, sai s l 5%.
- Tm thay i ca DET l - 100C/s + 100C/s .
- Tm thay i ca DP l
- 100W/s + 100W/s .
Hy tnh cng sut cn cp cho l trong cc trng hp sau:

1. ET = 80C
DET = 90C/s
2. ET = 20C
DET = 90C/s
3. ET = 70C
DET = - 70C/s
Nhn xt kt qu ca cc trng hp trn.

7. iu khin t ng my iu ho nhit bng k thut logic m,
ngi ta dng hai cm bin: Trong phng l cm bin nhit Ti , bn ngoi l
cm bin nhit To. Vic iu ho nhit thng qua iu khin tc qut
lm lnh my iu ho. Bit rng:
- Tm nhit quan tm l [0 500 ]
- Tc qut l v [0 600v/p ]
Hy tnh tc qut trong cc trng hp sau:
1. Ti = 270C
T0 = 320C
2. Ti = 300C
T0 = 350C
3. Ti = 260C
T0 = 330C
http://www.khvt.com
Chng 4 : iu khin m
Nhn xt kt qu cc trng hp trn.
8. Cho mt i tng l nhit c hm truyn :
G(S ) =
4.228
( S + 0.5)( S + 1.64S + 8.456)
2
a. Tnh thng s b PID theo Zeigler-Nichols, tnh POT, ts .

b. Thit k b PID m tho mn cc iu kin sau: POT < 10% v ts < 5
Bit rng:
- Nhit t Ts = 2000C
emax = 5%
- Sai s
- DET [ -10 +10 ] ( 0C/s )

- Cng sut ca l nhit P = 5KW
Tm KP, KI, KD trong cc trng hp sau:
1. ET = 80C
DET = 90C/s
2. ET = 20C
DET = 20C/s
3. ET = 80C
DET = - 90C/s
Nhn xt kt qu t c.
9. Xt h thng phi tuyn bc hai nh sau:
x + (t ) x 2 cos 3x = u
trong (t) cha bit v 1 (t) 2.

Thit k BK trt u x bm theo qu o mong mun xd.
10. Cho h thng :
x1 = sin x 2 + x 2 t + 1
x 2 = 1 (t ) x14 cos x 2 + 2 (t )u
Trong 1(t) v 2(t) l hai hm cha bit v : | 1(t)| 10, 1 2(t) 2.
Thit k BK m trt vi trng thi vng kn x1(t) c cho bi trng thi
mong mun xd(t).
11. Dng Simulink m phng cc h thng Qu bng v n by,
Con lc ngc, h thng iu khin nhit dng PID m.
12. Tham kho cc v d trong phn Help/Fuzzy Control Toolbox ca
Matlab.
Trang 97
http://www.khvt.com

Dieu Khien Mo

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Chng 4 : iu khin m

4.1. Khi nim c bn

PGS.TS Nguyn Th Phng H

Nhng pht biu nh vy gi l bin ngn ng ca tp m. Gi x l gi tr

VS(x), S(x), M(x), F(x), VF(x)

Nh vy bin tc c hai min gi tr :

PGS.TS Nguyn Th Phng H

XY(b) = Max{ X(b) , Y(b) }

+ Theo lut Sum

XY(b) = Min{ 1, X(b) + Y(b) }

+ Tng trc tip

XY(b) = X(b) + Y(b) - X(b).Y(b)

- Php giao hai tp m : XY

4.1.5. Lut hp thnh

a. Thut ton xy dng mnh hp thnh cho h SISO

Chia hm thuc B(y) thnh m im yj , j = 1,2,,m

R ( x1, ym) r11 ... ... r1m

... ... ... ...

... ... R ( xn, ym) rn1 ... ... rnm

B(y) = aT.R , vi aT = { 0,0,0,,0,1,0.,0,0 }. S 1 ng vi v tr th k.

B(y) = { l1,l2,l3,,lm } vi lk=maxmin{ai,rik }.

PGS.TS Nguyn Th Phng H

Nguyn l trung bnh : y =

2. Phng php trng tm

Phng php trng tm cho lut Sum-Min

Xt ring cho trng hp cc hm thuc dng hnh thang nh hnh trn :

Ch hai cng thc trn c th p dng c cho lut Max-Min

Phng php cao

y l cng thc gii m theo phng php cao.

PGS.TS Nguyn Th Phng H

M hnh m m ta ni n trong cc phn trc l m hnh Mamdani. u

Lut ny c ngha l: nu vct trng thi x nm trong vng LXk th h thng

vi wk(x) [0 , 1] l tho mn chun ho ca x* i vi vng m LXk

T (4.2) v (4.3) ta c phng trnh ng hc cho h kn:

and x2 = MEDIUM Then y1 = x1-3x2

R2 : If x1 = SMALL and x2 = BIG

u vo r o c l x1* = 4 v x2* = 60. T hnh bn di ta xc nh

LXSMALL(x1*) = 0.7 v LXMEDIUM(x2*) = 0.75

0.3 (176) + 0.35 12

Mt b iu khin m gm 3 khu c bn:

PGS.TS Nguyn Th Phng H

ii. iu khin m trt

iii. iu khin tra bng

iv. iu khin Tagaki/Sugeno (TSFC)

Dng iu khin m iu khin h thng bm x nc t ng. H thng

Ba b iu khin m (control) s iu khin : bm, van1, van2 sao cho mc

PGS.TS Nguyn Th Phng H

Thit lp h thng iu khin m :

E = {m ln, m nh, bng khng, dng nh, dng ln}

PGS.TS Nguyn Th Phng H

Lut hp thnh m Max Min

y l khi iu tit lu lng cho bn 2, ta a ra mc u tin nh sau :

error1=NB and de1=DB

error1=PB and de1=IB Then control=OF

pump maxflow = 1lit/s

pipe area = 0.001m2

thi gian (s)

PGS.TS Nguyn Th Phng H

thi gian (s)

4.3. Thit k PID m

M hnh ton ca b PID:

u(t) = Kpe(t) + K I e( x)dx + K D de(t )

Cc tham s KP, KI, KD c chnh nh theo tng b iu khin m ring

+ Ln cn a1 ta cn lut K mnh rt ngn thi gian ln, do vy chn: KP

LXSMALL(x1) = 0.7 v LXMEDIUM(x2) = 0.75

Tr (V Ve ) = S ( x)V Pxe u

Vij = S j Pik xek u

V vy xe(t) 0, We 0, Ve 0, hoc x x , W W, V V khi t .