1

Chng 3

IU KHIN TRT N RON THCH NGHI CHO TAY MY

ROBOT BT NH HM
iu khin trt c bit n nh l mt phng php iu khin phi tuyn bn vng
n gin, hiu qu. u im ca phng php ny l t nhy vi s bin i ca cc thng
s h thng, c kh nng khng nhiu tt, p ng ng hc nhanh. Tuy nhin, do tn hiu
iu khin trt l mt hm du nn h thng chuyn ng bm mt trt thng tn
ti hin tng qu o trng thi ca h giao ng vi tn s rt ln qua mt trt. Mt
khc thit k iu khin trt yu cu phi bit trc m hnh ton hc ca h ng hc
cng nh cc iu kin bin khc. khc phc nhc im ny, lun n xut phng
n tng hp b iu khin thch nghi bn vng trn c s iu khin trt kt hp vi
mng n ron p dng cho cc i tng phi tuyn c thnh phn bt nh dng hm s.
3.1 Bi ton tng hp b iu khin trt
i tng phi tuyn bt nh hm s y gii hn l lp i tng phi tuyn bc hai th
ng dng truyn ngc v c im cn bng ti gc ta , c m hnh dng tng qut
sau:
x&
1 x2
x1

x&2 f ( x ) u d ; vi x = x
2
yx
1

trong f x l hm phi tuyn trn, bt nh b chn v h (3.1) c im cn bng ti gc

ta . d l nhiu ngoi tc ng ln h thng.
Nhim v t ra l thit k b iu khin h kn bm qu o t vi sai lch bm tin
v 0 v m bo tnh bn vng vi nhiu. tng hp h thng iu khin cho i tng
c kh nng khng nhiu, gii php thch hp nht trong trng hp ny l iu khin
trt, v tnh n gin v kh nng thc thi d dng ca phng php. i vi thnh phn
bt nh ca i tng iu khin (3.1) lun n xut phng php xp x hm phi tuyn
bt nh f x bng mt mng n ron hng tm ba lp. Cc bc thit k c trnh by
cc mc tip theo di y.
3.2 Thit k b iu khin trt
Trc tin, gi s i tng (3.1) l xc nh ta c th tng hp ngay c tn hiu iu
khin u(t) theo nguyn l iu khin trt [12, 41]. Mc tiu ca thit k b iu khin
trt l nhm a e(t ) 0 . (vi e(t ) l sai lch gia tn hiu ch o w(t ) v tn hiu u
ra y (t ) ca h thng). Hay ni mt cch khc l xc nh c tn hiu iu khin u(t)
m bo h thng kn lun chuyn ng bm theo mt trt c nh ngha nh sau:
S (e) e e&

trong : e w x1 ; e& w& x&1 w& x2

e(t ) 0 , phi chn h s 0 v mt trt m bo iu kin S (0) 0 .
m bo khi lim
t
Vi mt trt , nhim v thit k l xc nh mt tn hiu iu khiu uSMC khi c nhiu
tc ng lm cho h ri khi mt trt th tn hiu iu khin ny li ko h tr v mt
trt. Tn hiu iu khin uSMC c xc nh t iu kin trt. Theo [12, 41], ta c

hm Lyapunov cho h kn c biu din nh sau:

VSMC ( S )

1 2
S
2

o hm theo thi gian biu thc ta c

dVSMC ( S )
SS&
dt

c (3.3) l mt hm Lyapunov th phi c V&SMC SS& 0 . Do vy, ta chn:

S& K sgn( S ); K 0

Thay vo ta c
dVSMC ( S )
SS& SKsgn( S ) 0
dt

o hm ta c:
& w& w
&
& x&1 &
& &
& &
S&(e) e& e&
x&
2 w w x1 f ( x ) u SMC K sgn( S )

T ta xc nh c tn hiu iu khin trt uSMC :

&
& x&1 f ( x )
uSMC K sgn( S ) w& w

Mun tng hp c b iu khin trt th cn phi bit trc hm f ( x ) . Nhng thc t

i tng c f ( x ) l bt nh. Do vy, lun n xut s dng mng n ron xp x hm
f ( x ) . Thay f (.) f (.)

vo ta c b iu khin trt cho i tng bt nh hm.

&
& x&1 f ( x )
uSMC K sgn( S ) w& w

Cu trc h thng iu khin xut c biu din trong hnh 3.1.

w, w& e, e&
-

f
SMC

Nhn
dng

i
tng

q, q&

Hnh 3.1: S cu trc h kn s dng b iu khin RAC

3.3 Xp x hm bt nh bng mng n ron hng tm (RBF)
d dng cho vic xp x v m bo phn tuyn c c tnh ng hc tt, mt php bin
i m hnh c thc hin. tng ca php bin i l a m hnh (3.1) v

dng tng hp ca mt m hnh tuyn tnh n nh dng chun iu khin v mt phn phi
tuyn bt nh mi. Php bin i c thc hin nh sau:
T (3.1) b qua tc ng ca nhiu, ta vit li di dng sau:
x&1 x2

x&2 a21 x1 a22 x2 F x u

vi F x a21 x1 a22 x2 f x ; a21 0; a22 0

Cui cng m hnh c th hin nh dng sau:
x&(t ) Ax (t ) Bu (t ) F x

T
trong , x (t ) x1 (t ) x2 (t ) ; A a a ; B 1 ; F x 0 F x

21
22

T ta c s cu trc mi ca i tng iu khin (3.1), th hin trn hnh 3.2

Hnh 3.2: S cu trc ca i tng iu khin

Nhim v t ra trong trng hp ny l xc nh thnh phn phi tuyn F x ca i
tng iu khin . Do f x l hm trn bt nh b chn, v vy t ta c F x cng s l
hm trn bt nh b chn. Vi cc gi tr a21 , a22 l cc hng s chn trc, nn nu xc
nh c hm phi tuyn F x th s xc nh c f x theo cng thc sau:
f x F x a21 x1 a22 x2

Cc hm phi tuyn trn p ng cc iu kin nh l Stone-Weierstrass [96] u c th

xp x c bng mng n ron RBF vi chnh xc bao nhiu ty [97, 98, 99]. Do vy
hm F x ca i tng biu din trong phng trnh v trong hnh 1.6 c th xp x bng
mng RBF 3 lp bao gm lp vo lp ra v lp n. Cc n ron lp vo v lp ra c
chn l n ron tuyn tnh, lp n lp n l n ron hng tm (RBF). Cu trc mng c
m t nh hnh 3.3.
W1

W2

F x

Wm

Hnh 3.3: S cu trc mng RBF xp x hm phi tuyn

Khi , hm phi tuyn F x c biu din thng qua cc hm c s x vi cc trng

s l tng Wi* ; i 1, 2,..., m , vi s lng m cc hm c s m bo sai s xp x
M , M l sai s cho trc M const [97, 100]:
m

F x Wi*i x
i 1

Trong cc hm c s x c chn di dng [100]:

i x

x Ci
exp

2 i2

x Ci
exp

2 i2
i 1

i 1, 2,...m

Vi Ci l vc t 2 chiu biu din tm ca hm c s th i , i biu din tri rng ca

hm c s. y cc trng s l tng Wi* khng bit trc. Nhim v t ra tip theo l
xc nh cc trng s nh gi Wi , theo nh gi hm phi tuyn F ( x ) :
m

F x Wii x W T x
i 1

Qu trnh xc nh Wi l qu trnh hc ca mng, chnh l qu trnh hiu chnh cc trng s

Wi

lp ra ca mng RBF. Sai lch ca trng s nh gi so vi trng s l tng s l:

*
W%
i Wi Wi

T , v ta c:
F x F x * ;
m

* W%
ii x .
i 1

R rng l * khi sai lch ca cc trng s nh gi so vi cc trng s l tng tng

ng b trit tiu W%
i 0, i 1, 2,..., m. S cu trc ca h thng xp x c tnh phi tuyn
bt nh F x ca i tng trn c s mng n ron RBF c th hin nh hnh 3.3:

MH
HC
Hnh 1.3: S cu trc h thng nhn dng m hnh i tng

5
x&M (t ) AM xM (t ) BM u (t ) F x

Trong : xM (t ) - vc t trng thi ca MH; AM , BM - cc ma trn vi kch thc tng ng

AM A; BM B; F x 0 F x

- ta c:
E&(t ) AE (t ) F% x ,

trong

, E (t ) x (t ) xM (t );
F% x F x F x 0 F% x
F% x F x F x

Lut hiu chnh thch nghi ca khi HC phi c xc nh sao cho Wi Wi* , W%
i 0,
F x F x . Qu

trnh hiu chnh c thc hin trn c s s dng vc t sai lch E (t )

v m bo E (t ) 0, ngha l m bo h thng n nh. B sau y xc nh

iu kin h thng n nh.
B : Vi ma trn A trong m hnh (3.2) l ma trn Hurwitz. H thng s n nh khi:
Lut chnh nh vc t trng s thch nghi ca RBFNN l :
% ( x)( p e p e )
W&
1 12
22 2

(3.24)

vi P l ma trn i xng xc nh dng.

Chng minh
Chn hm Lyapunov cho h di dng
V ( E ,W%) E T PE W%T W%

trong

P l ma trn i xng xc nh dng

p11
p12

p12
p22

Ly o hm 2 v ca ta thu c

1 %
&T W+W
& E T AT P PA E 2 E T PF%( x ) W
&
% %T W)
%
%T W)
%
V& E T AT F%( x ) PE E T P AE F%( x ) (W

V A l ma trn Hurwitz theo (3.2) ta d dng xc nh c ma trn Q :

AT P PA Q

Trong Q l ma trn xc nh dng, tha mn bt phng trnh Rayleigh [101, 102,

103]
2

1 E E T QE 2 E

Ta c
& E T QE 2W%T ( x )( p e p e ) 2W%T W%
&
T
V& E T QE 2 F%
x ( p12 e1 p22 e2 ) W%T W%
12 1
22 2
&)
E T QE 2W%T ( ( x)( p e p e ) W%
12 1

22 2

Vi lut chnh nh:

% ( x)( p e p e )
W&
12 1
22 2

Ta c
V& E T ( AT P PA) E T QE 0

Vy b c chng minh .
Cu trc b nhn dng:

Nhn dng

HC

W
-

xd
-

SMC
(3.9)

i tng
(3.37)

Hnh 1.4: S cu trc h kn s dng b iu khin RAC

3.4 p dng thut ton thch nghi bn vng cho tay my robot n bc t do
3.4.1 M hnh ton hc robot n bc t do
M hnh ng lc hc ca robot n bc t do [74]:
& C (q, q&)q& G (q ) Fd (q&) d
H (q )q&

trong : q R n , q& R n , q&& R n l vc t gc, tc v gia tc ca n khp. Ma trn qun tnh

H (q)

l ma trn i xng xc nh dng v bit trc do vy c th vit li nh sau:

& H 1 (q ) C ( q, q&) q& G ( q) Fd ( q&) d H 1 ( q)

q&

v ta c:
& H 1 (q ) C (q, q&)q& G (q ) Fd (q&) d H 1 (q )
q&
& f (q, q&) g (q )
q&

vi f (q, q&) [ f1 (q, q&), f 2 (q, q&),..., f n (q, q&)]T ; g (q) [ g1 (q), g 2 (q ),..., g n (q)]T
S dng php i bin:

7
1
H (q ) g (q ) u;

1
n
H (q )u g ( q)u; u R

Nh

vy, t v ta c th biu din robot n bc t do bng n h con truyn ngc cht sau:
qi xi1
q&i xi 2

i1
, vi xi x ; i 1, 2,..., n
i 2
&
&
q&
i xi 2 f i ( xi ) ui

trong : f i ( xi ) l cc hm trn cha bit v b chn. Qi o t (qd , q&d ) cho trc.

M hnh robot biu din dng cho php s dng phng php thit k b iu khin
thch nghi bn vng RAC nh .
3.4.2 Thit k b iu khin
Cu trc b iu khin
Nhn
dng

SMC
qd , q&d e, e&(3.48)
-

Php i
bin
(3.40)

Robot
(3.37)

q, q&

Hnh 1.5: S cu trc h kn s dng b iu khin RAC

T s cu trc hnh 1.5 ta thy nhim v t ra bao gm: nhn dng thnh phn phi
tuyn f q, q& nh mng n ron v thit k b iu khin trt trn c s hm f q, q&
c nhn dng.
- Thit k b iu khin trt
Xt m hnh vi fi (.) bit trc.
Thit k b iu khin trt cho khp 1.
Vi mt trt: S1 (e1 ) e1 e&1 ; 0

trong : e1 q1d q1 vi
Ly o hm ta c:

q1 , q1d

l qu o v qu o t ca khu 1

dS1 (e1 )
&
&
& & &
& &
&
& &
&
&
e&
1 e1 ( q1d q1 ) q1d q1 q1d q1d q1 ( f1 u1 )
dt

kt hp iu kin trt ta c:

q&1d q&&1d q&1 ( f1 u1 ) K sgn(S1 ) 0

&
&
q&1d q&
1d q1 ( f1 u1 ) K sgn( S1 )

ta c b iu khin trt cho khp th nht:

&
&
u1 K sgn( s1 ) q&1d q&
1d q1 f1

Tng t cho khp th hai ta c:

&2d q&2 f 2
u2 K sgn(S 2 ) q&2 d q&

vi S 2 (e2 ) e2 e&2 ; e2 q2 d q2
v q2 , q2 d l qu o v qu o t ca khu 2

B iu khin trt cho khp th n:

&
&
un K sgn(S n ) q&nd q&
nd qn f n

S n (en ) en e&n ; en qnd qn

v qn , qnd l qu o v qu o t ca khu n
- Nhn dng hm phi tuyn bt nh
Khi c c F q, q& ta d dng xc nh f q, q& theo biu thc sau:
f q, q& F q, q& a21q a22 q&

trong a21 0; a22 0 l cc tham s c chn trc

nhn dng (ND) hm phi tuyn bt nh ta s dng mng n ron RBF, vi:
m

F q, q& Wi*i q, q&

i 1

trong q, q& l cc hm c s xuyn tm v c chn nh sau:

exp

q, q&

2
T
q& Ci

2 i2

exp
i 1

2
T
q& Ci

2 i2

Vi Ci l vc t 2 chiu biu din tm ca hm c s th i , i biu din tri rng ca

hm c s. y cc trng s l tng Wi* khng bit trc. Nhim v t ra l xc nh
cc trng s nh gi Wi , theo nh gi hm phi tuyn F (q, q&) :
m

F q, q& Wii q, q&

i 1

Qu trnh xc nh Wi l qu trnh hc ca mng, chnh l qu trnh hiu chnh cc trng s

Wi

lp ra ca mng RBF. Sai lch ca trng s nh gi so vi trng s l tng s l:

W%
i Wi Wi

T , v ta c:
F q, q& F q, q& * ;
m

&
* W%
ii q , q
i 1

Khi sai lch ca cc trng s nh gi so vi cc trng s l tng tng ng b trit tiu

W%
i 0; i 1, 2,..., m

th *

Lut cp nht trng s ca mng:

% p e p e (q, q&)
W&
i
21 1
22 2
i

vi e1 q1d q1 ; e3 q&1d q&1 ; lut hiu chnh ny c xc nh sao cho Wi Wi* , W%

i 0,
F q, q& F q, q& .

Qu trnh hiu chnh c thc hin trn c s s dng vc t sai lch E (t ) v m bo

E (t ) 0 .
3.5. p dng thut ton thch nghi bn vng trn c s iu khin trt cho tay my
robot 3 bc t do
3.5.1 M hnh ha robot Scara 3 bc t do (DOF)
Robot gm c hai khp quay v mt khp tnh tin.
Cc khu 1, 2 v 3 c khi lng v chiu di ln lt l: m1 , l1 ; m2 , l2 ; m3 , l3 .
Ma trn Tensor qun tnh ca cc khu:

I c1 0

0
1
m l2
12 1 1

0 ; I c 2 0

1
m l 2
12 1 1

1
m l2
12 2 2

12 m3l3

1 2
ml
12 2 2

; I c3

1
m l 2 0
12 3 3

0
0

Xy dng cu trc, t h trc ta , thit lp phng trnh ng hc v ng lc hc

p dng phng php Denavit Hartenberg ta xy dng h ta c nh O0 X 0Y0 Z 0 v h
ta cc khu 1: O1 X 1Y1 Z1 khu 2: O2 X 2Y2 Z 2 , khu 3: O2 X 2Y2 Z 2 (nh hnh 3.3).
Thng s DH (vi ba bin khp 1 , 2 , d3 ):
Bng 1.1: Thng s ng hc DH (Denavit-Hartenberg) Robot Scara 3 DOF
Khp

di

li

l1

l2

d3

t: q1 1 , q2 2 , q3 d3 v q [q1, q2 , q3 ]T
H phng trnh ng hc ca Robot:

10
f1 l1 cos q1 l2 cos q1 q2 xE 0

f 2 l1 sin q1 l2 sin q1 q2 y E 0
f q z 0
3
E
3

T ta c th gii cc bi ton ng hc thun v bi ton ng hc ngc.

Phng trnh ng lc hc ca robot 3 bc t do:
& C (q, q&)q& G (q ) Fd (q&) d
H (q )q&

Trong : q R3 , q& R 3 , q&& R 3 l vc t gc, tc v gia tc ca 3 khp. Ma trn qun tnh

H (q)

l ma trn i xng xc nh dng v bit trc do vy c th vit li nh sau:

& H (q ) C ( q, q&) q& G ( q) Fd ( q&) d H 1 ( q)

q&
1

1
1
v ta c: q&& H (q) C (q, q&)q& G (q) Fd (q&) d H (q)

Ta c phng trnh: q&& f (q, q&) g (q)

Vi: f (q, q&) [ f1 (q, q&), f 2 (q, q&),..., f n (q, q&)]T ; g (q) [ g1 (q), g 2 (q ),..., g n (q)]T
T phng trnh ng lc hc tng qut p dng cho robot Scara Hnh 3.3 ta c:
& (q, q&) d Fd (q&)
H (q)q&
Trong :
h11 (q ) h12 (q ) h13 (q )

H (q ) h21 (q ) h22 (q ) h23 (q )

h (q ) h (q ) h (q )
32
33
31

Cc phn t ca ma trn H (q) :

1

2
2
2 1
h11 (q) 3 m1l1 l1 (m2 m3 ) l2 ( 3 m2 m3 ) l1l2cos(q2 )(m2 2m3 )

2 1
h12 (q) l2 ( 3 m2 m3 ) l1l2cos(q2 )(m3 2 m2 )

h (q) l 2 ( 1 m m ) l l cos(q )(m 1 m )

21
2
3
12
2
3
3 2
2 2

1
h22 (q) l22 ( m2 m3 )
3

1
h33 (q) m3
4

h31 (q) 0; h32 ( q) 0; h13 ( q) 0; h23 ( q ) 0

(q, q&) C (q,q&)q& G(q) 1 2 3 T

Cc phn t ca (q, q&) :

1
m2 )q&2 2
1q2 l1l2 sin( q2 )( m3
1 l1l2 sin(q2 )(2m3 m2 )q&&
2

1
2
2 l1l2 sin(q2 )(2m3 m2 )q&1
2

3 2 m3 g

T
T
T
v 1 2 F3 ; d d 1 d 2 d 3 ; Fd Fd 1 Fd 2 Fd 3

t:

A(q ) H 1 (q )

11
A11

A21
A
31

A12
A22
A32

A13
h22 h33 h23 h32
1

A23
h23 h31 h21h33
det( H )

A33
h21 h32 h22 h31

h13 h32 h12 h33

h11h33 h13 h31
h12 h31 h11 h32

h12 h23 h13 h 22

h13 h21 h11h23

h11 h22 h12 h 21

Ta c th vit li phng trnh nh sau:

& H 1 (q) (q, q&) d Fd q&
q&
f1
A11 1 A12 2 A13 3
A A A

f A(q ) (q, q&) f 2

21 1
22 2
23 3

f 3
A31 1 A32 2 A33
3

d = -A(q) d

A11 d 1 A12 d 2 A13 d 3

A21 d 1 A22 d 2 A23 d 3

A31 d 1 A32 d 2 A33 d 3

d1
= d 2
d3

Fms

Fms1
= -A(q) Fd = Fms 2
Fms 3

u=

u1
A(q) = u2
u3

Suy ra:

A11 Fd 1 A12 Fd 2 A13 F d 3

A21 Fd1 A22 Fd 2 A23 F d 3

A31 Fd 1 A32 Fd 2 A33 F d 3

A11 1 A12 2 A13 3

A A A
21 1
22 2
23 3

A31 1 A32 2 A33 3

&
q&
1 f1 d1 Fms1 u1 f1 u1

&
&
q
2 f 2 d 2 Fms1 u2 f 2 u2
q&
3 f 3 d 3 Fms1 u3 f 3 u3
&

S dng php i bin:

u H 1 (q ) A(q )

H (q)u A (q )u
1

; u Rn

Nh vy, t n ta c th biu din robot 3 bc t do bng 3 h con truyn ngc cht

sau:
qi xi1
q&i xi 2

i1
, vi xi x ; i 1, 2,3.
i 2
&
&
q&
i xi 2 f i ( xi ) ui

trong : fi ( xi ) l cc hm trn cha bit v b chn. Qy o t (qd , q&d ) cho trc.

Bin i q&&i v dng truyn ngc cht:
x&11 f11 ( x11 ) g11 ( x11 ) x12

x&12 f12 ( x11 , x12 ) g12 ( x11 , x12 ) u1

q x
11
1

f11 ( x11 ) 0;

g11 ( x11 ) 1;

vi: f ( x , x ) f ; g ( x , x ) 1;
12 11 12
1
12
11 12
Tng t vi q&&2 ta c:
x&21 f 21 ( x21 ) g 21 ( x21 ) x22

x&22 f 22 ( x21 , x22 ) g 22 ( x21 , x22 ) u2

q x
21
2

12
f 21 ( x21 ) 0;

g 21 ( x21 ) 1;

vi: f ( x , x ) f ; g ( x , x ) 1;
22 21 22
2
22
21
22

&3 ta c:
Tng t vi q&
x&31 f 31 ( x31 ) g31 ( x31 ) x32

x&32 f32 ( x31 , x32 ) g 32 ( x31 , x32 ) u3

q x
31
3

f31 ( x31 ) 0; g31 ( x31 ) 1;

Vi: f ( x , x ) f ; g ( x , x ) 1;
32 31 32
3
32
31
32
Thit k m hnh 3D cho Robot: s dng phn mm SolidWorks cho php thit k tng b
phn ring r (cc khu) ca Robot, sau lp ghp kt hp li thnh cnh tay Robot hon
chnh qua cc khp quay, khp tnh tin.
Vic xc nh kch thc, khi lng, m men qun tnh ca vt th, hay xc nh ta
khi tm, t h trc ta gn vi tng khu c thao tc rt d dng. Mt u im ni
bt na l ta c th chuyn m hnh 3D trong SolidWorks sang m hnh c cc khi
SimMechanics trong Matlab, ng thi ta vn gi nguyn c cc yu t v kch thc,
khi lng, m men qun tnh, ta trng tm v cc h trc ta nh Hnh 3.3.

Hnh 1.6: M hnh 3D Robot Scara 3 bc t do

M hnh Robot s dng cng c SimMechanics trong Matlab:

SimMechanics l l mt cng c ca Matlab cho php ngi s dng m phng ng
hc ca h. M hnh ha v m phng robot 3 DOF nh sau:

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Hnh 1.7: S m phng Robot Scara 3 DOF s dng cng c SimMechanics

3.5.2 M phng kim chng cc b iu khin
3.5.2.1 Chn cc thng s m phng:
- Thng s ca Robot nh bng sau:
Bng 1.2: thng s ng hc ca Robot Scara 3 DOF
Khp

Khi lng (kg)

Chiu di (m)

3.27

0.45

2.93

0.45

2.13

0.565

- Chn cc thng s b iu khin: cc tham s thit k trong b iu khin ln lt l:

- Thng s nhiu tc ng ln cc khp: xt trong khong thi gian T 0.5( s); thi im
T
nhiu tc ng: t 0.1 0.2( s); t 0.3 0.4( s) v c ln l: d 10 10 10 ( N ) .
3.5.2.2 Kt qu m phng:

14

15

3.6 Kt lun:
- xut thut ton thch nghi nhn dng hm phi tuyn bt nh ca i tng s
dng mng n ron (RBF). Pht biu v chng minh nh l v kho st tnh n nh ca h
thng.
- xut cu trc iu khin s dng mng n ron kt hp iu khin trt cho robot
n bc t do.

16

TI LIU THAM KHO

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