Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Tng hp lut iu khin phi tuyn cho h thng cu trc Synthesis of nonlinear control law for bridge cranes
Phan Nguyn Hi Hc vin k thut qun s e-Mail: phanhai@mail.ru Tm tt
Bi bo gii thiu bi ton iu khin t ng h cu trc v s vn dng mt phng php tng hp iu khin cho cc h nhiu u vo da trn nguyn l phn tch gii quyt. ny c u im l n gin nhng lut iu khin tng hp c c rt nhiu nhc im, cc nhc im c th k n l sai lch tnh, tc ng nhanh km, tnh dao ng [1,6] v s thiu chnh xc do tuyn tnh ha. Trong bi bo ny tc gi s vn dng mt phng php tng hp iu khin phi tuyn ca mnh gii quyt bi ton iu khin cu trc nhm mc tiu loi b nhng nhc im trn.

Abstract: This paper presents the problem

synthesize the law of automatic control for bridge cranes and shows a method to solve by using the decomposition principle.

2. Bi ton iu khin cu trc

2.1 M hnh ton hc ca cu trc M hnh cu trc c th c th hin nh trn H.1 [6], v tr xe gng c xc nh bi khong cch x t tnh t u thanh rm (t im O) n tm ti nng. Ti nng c khi lng l m p , xe gong c khi lng l mt , ti nng c ni vi xe gong bi dy cp di l v c khi lng khng ng k. Khi b nng ln, h xung v khi xe gong di chuyn, ti nng c th dao ng trong mt phng thng ng vi mt gc a t nh. Xe gng chuyn ng bi lc Fx v ti nng c nng ln bi lc Fl .

1. M u
H thng cu trc c s dng rng ri trong xy dng, ti cc nh my, bn cng,, v vic tng hp lut iu khin t ng c ngha thc tin rt ln. Tuy nhin bi ton iu khin t ng cu trc l mt bo ton khng n gin. Nhng kh khn trong iu khin xut hin do yu cu linh hot rt cao i vi qu o chuyn ng, do s phc tp v tnh phi tuyn ca m hnh ton hc ca cu trc. Hin nay, bi ton ny c gii bng cch tuyn tnh ha m hnh ton hc ca cu trc v s dng nhng phng php c in tng hp iu khin [1,6]. Phng php gii

Z O

x(t)
Thanh rm Ti nng

Xe gong (mt)

Fx Fl a(t) l(t)
P(xp, zp) Ti (mp)

H. 1

M hnh thc t v m hnh c hc ca cu trc

S dng phng trnh cn bng nng lng Lagrange [1,6] ta nhn c m hnh ton hc ca h cu trc nh sau:

(mt

m p ) x m p (sin a)l m pla 2

m pl (cos a)a m p g cos a Fl

2m p (cos a)l a m pl (sin a)a 2

Fx

m p (sin a) x m pl (cos a) x la
trong g l gia tc ri t do. n gin, ta k hiu:

(1)

2l a g sin a,

VCCA-2011

479

Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

x1 x4 x t ; x2 x t ; x5 l t ; x3 l t ; x6 a t ; a t ;
(2)

u1 Fx ; u2 Fl ; Gii h phng trnh (1) tng ng vi cc bin x ,

l , a , v kt hp vi (2), ta c th a m hnh (1) thnh m hnh tng ng dng Cauchy sau: x1 x4

x2 x3 x4 x5 x6 x5 x6 1 u1 mt
2 x2 x6

u2 sin x3
(3)

g cos x3 g sin x3

sin x3 u1 mt 2 x5 x6

1 mp

sin 2 x3 u2 mt cos x3 sin x3 u2 mt

1 x2

cos x3 u1 mt

2.2 t vn bi ton Cho cu trc c m t bi m hnh ton hc (3), cn tm cc lut iu khin u1 u1 x1 , x2 , x3 , x4 , x5 , x6 ,

h ng hc mt iu khin l mt dng m hnh ton hc nh sau: x1 f1 x1 , x2 ;

u2
a

u2 x1 , x2 , x3 , x4 , x5 , x6 ,
t trng thi ban u no v mc tiu

x2 ... xi ... xn

f 2 x1 , x2 , x3 ;
(4)

x1 , x2 , x3 , x4 , x5 , x6

fi x1 , x2 ,

xi

,i

1, n 1; g x1 , x2 ,..., xn u ,
xi 1 , cn

0 0 0 0 0 x10 , x2 , x3 , x4 , x5 , x6

0, l0 ,0,0,0,0 ( l0 0 ) v m bo cho h (3) n nh. T m hnh (3), c th thy bi ton iu khin cu trc l mt bi ton rt phc tp, chng ta cn tng hp lut iu khin cho mt h hai u vo c phi tuyn mnh. Mt trng hp ring ca bi ton ny l iu khin vi di cp treo l hay x2 c nh c tc gi gii quyt trong [3], tng ng vi trng hp ring ny, iu khin cu trc c tin hnh qua hai bc tun t: Bc 1. C nh xe gong, nng ti ln n cao cn thit; Bc 2. C nh chiu di cp nng ti, di chuyn xe gong n v tr cn thit. Cch iu khin nh trn v mt thi gian khng th hiu qu hn so vi iu khin trong trng hp chung nht: va nng ti, va di chuyn xe gong. tng hp iu khin trong trng hp chung, ta s s dng phng php c m t di y.

f n x 1 , x2 ,..., xn

vi cc hm f i kh vi theo cc bin x1 , x2 ,

fi

xi

0, i
1

n , g

0.

Trong (4), cc hm f i c phi tuyn ty . Bin trng thi x1 c gi l bin trng thi u tin. Dng m hnh ton hc trn c gio s A.R. Gaiduk ln u tin t tn l dng iu khin c Jordan, xut pht t vic ma trn ca m hnh tuyn tnh ha ca (4) c cu trc gn ging vi ma trn Jordan [4] v tn gi ny tr nn ph bin trn th gii, ngoi tn gi ny m hnh (4) cn c gi l dng tam gic. i vi dng iu khin c Jordan, vic tng hp iu khin a cc bin trng thi t mt gi tr ban
0 0 u no x10 , x2 ..., xn v im cn bng 0,0,...,0

3. Mt phng php tng hp iu khin cho cc h phi tuyn nhiu u vo

3.1 Dng iu khin c Jordan Phng php tng hp iu khin cho cc h nhiu u vo c xy dng trn nguyn l phn tch h nhiu u vo ra cc h con. Cc h con v hnh thc c mt u vo v c cu trc c xy dng da trn dng iu khin Jordan (Controlable Jordan Form CJF). Dng iu khin c Jordan [4] bc n ca cc

c gii quyt hon ton. Cc phng php tng hp c th k n l back-stepping ca P.V. Kokotovic [2], cc phng php ca A.R.Gaiduk [4], phng php vi phi [5],...Trong cc phng php ny, phng php vi phi c u im l cho php c th tc ng ln thi gian iu khin. Phng php tng hp iu khin cho h nhiu u vo c tc gi xy dng trn nn tng phng php vi phi. Phng php vi phi s dng khi nim vi phi (diffeomorphism) gia h ban u (4) v mt h ng hc o no . Nu gia hai h ng hc tn ti nh x vi phi th cht lng ng hc ca chng tng t

VCCA-2011

480

Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

nhau. V vy nu h o c xy dng n nh tim cn th h ban u (4) cng n nh tim cn. Trong bi ton ny, h o c th c xy dng nh sau: Vi CJF (4), iu kin (9) lun c tha mn [5], ngha l iu khin (8) l mt iu khin cn tm, hn na l mt hm xc nh v kh vi. Trong phng php ny, hm hi thng c chn bng

yi yn hi

hi ( yi , ei ) hn ( yn , en ); yi 0, ei

yi 1 , i

1, n 1,
(5)

vi

yi y
2 i

0, hi 0, ei

ei2

, cc tham s vi

0 , ei

0 c

0, i

1, n.

V phi ca (5) c ma trn Jacobi: h1 1 0 y1

0 0
. (6)

0 J 0 0
Do

h2 y2

0 0

hn yn 0

1 1

1 hn yn

0, i 1, n , nn tt c cc gi tr ring yi ca ma trn Jacobi (6) l m, suy ra h o (5) n nh tim cn. tm u , u tin cn tm cng thc cc bin ca h o (5) theo x1 , x2 ,..., xn . Cho y1 x1 , theo cch xy
dng, biu thc ca cc bin ca h o (5) tm c theo cng thc quy: (7) yi 1 yi hi ( yi , ei ), i 1, n 1 . Trn c s xi c cho trong CJF (4), cng thc cc bin ca h o (5) khi tnh theo (7) s c dng: y1 x1 ,

hi

vai tr tc ng ln thi gian iu khin, vi cng ln hoc ei cng nh th thi gian iu khin cng nh. 3.2 Cc h con dng Jordan ca h nhiu u vo T nhng thun li m CJF (4) mang li trong tng hp iu khin cho cc h ng hc phi tuyn c bc ty , tc gi nghin cu rt ra nhng du hiu ch th hay tiu chun m hnh ton hc ca i tng iu khin c CJF v t tiu chun ny xy dng cu trc cn tm cho cc h con ca h nhiu u vo. Tiu chun mt h ng hc mt u vo c CJF c pht biu nh sau [5]: Gi s c h bc n vi mt tn hiu iu khin u c cho di dng h phng trnh vi phn ca cc bin trng thi theo mt th t ty xi Fi x, u , i 1, n ; x x1 , x2 ,..., xn , (10) h (10) c CJF (4) vi bin trng thi u tin xk khi v ch khi iu kin sau c tha mn d n 1 xk d n xk i u arg , i 0,1,...; 0 , (11) n 1 u dt n dt y u
i

l o hm bc i ca u , arg

d n 1 xk dt n 1

d n 1 xk , cn o hm cc dt n 1 bc ca xk c tnh theo cng thc quy:

k hiu tp cc bin ca

y2 ... yi

x1

h1 x1 , e1

f1 x1 , x2

h1 x1 , e1 ,

dxk dt d i xk dt i

Fk x, u ;
n j 1, x j

yi ( x1 , x2 ,..., xi ),
1, n .

ngha l yi ch ph thuc vo x1 , x2 ,..., xi , i

i 1

xj

d i 1 xk dt i 1 u

F j x, u
j 1

Do , t phng trnh cui yn hn ( yn , en ) ca (5) s nhn c lut iu khin cho (4) theo cng thc
n 1

j 0,u

j i 1

u
1

d i 1 xk dt i 1

, i

2,...
d i 1 xk dt i 1

hn ( yn )
j 1

yn fj . xj

yn xn

.g

f n .g

. (8)

trong i ( i
1

l tp

cc bin ca

Lut iu khin ch chp nhn c nu tn ti nh x vi phi gia (4) v (5), c ngha l ma trn Jacobi ca nh x gia hai h phi khng suy bin: y1 y1 y1 y1 x1 x2 x3 xn

det

y2 x1 ... yn x1

y2 x2 ... yn x2

y2 x3 ... ... yn xn 1

y2 xn ... yn xn

d i 1 xk ). dt i 1 Trn c s tiu chun (11), tc gi xy dng cc khi nim h con dng Jordan v h con dng Jordan ton cc [5]: Gi s c h nhiu u vo iu khin c bc n vi m tn hiu iu khin ( m n ) arg
xi fi x1 , x2 ,..., xn , u1 , u2 ,..., um , i 1, n , (12)
h con c dng Jordan bc n p ca h (12) vi bin trng thi th nht x p,1

0.

(9)

x 1 , x2 ,.., xn v iu khin

u j l h con c dng:

VCCA-2011

481

Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

x p ,1 x p ,2 ... x p,np x p,np
vi rng buc
1

f p ,1 x p ,1 , x p ,2 ,

, ,
(13)

f p ,2 x p ,1 , x p ,2 , x p ,3 ,

f p,np

x p ,1 , x p ,2 ,

, x p,np , x p,np , u j ,

, ,

3. Trn c s cc iu khin cho cc h con tm c di dng tham s, tm vector iu khin cho h (12) di dng gii tch r rng. Cc h con dng Jordan c u im l vic tm vector iu khin l mt qu trnh gii h phng trnh tuyn tnh. Phng php c trnh by chi tit trong [5].

f p , n p x p ,1 , x p ,2 ,
d
np 1

4. Tng hp lut iu khin cu trc

Trong h (3), t z1

x1
x5 x3 x5 x3

x2 x3 , ta c:
x6 x2 ; x5 x3 x6 x2 x6 x2 .
(16)

z1
x p ,1 , i 0,1, ,n 2;
(14)

x4 x4

uj

arg
np

dt d x p ,1

np 1

z1
Tip theo:

x5 x3
v x4

x6 x2

x5 x6

x6 x5

2x5 x6 ,

(17)

uj
cn nu nh

dt
np 1

np

0,

x6 x2 1 u1 u2 sin x3 mt g sin x3 2 x5 x6 cos x3 u1 u2 sin x3 mt

ur

arg
n

dt d p x p ,1

p ,1 np 1

0, i

0, n 2; r

1, m;
(15)

uj

dt

np

0,

th h con (13) l h con c dng Jordan ton cc vi bin trng thi th nht x p ,1 . y

x p,1 , x p,2 ,..., x p, np

x1 , x2 ,..., xn

c coi l cc bin

trng thi ca h con ny. Trong h con (13) c th c cc bin trng thi cng nh iu khin khc ca h (12), nhng nhng i lng ny c coi l cc tham s tc ng t bn ngoi. Cc h con dng Jordan v Jordan ton cc ca mt h nhiu u vo, v hnh thc, c coi l c mt u vo v vic tng hp iu khin cho chng cng thun li nh trong tng hp iu khin cho cc h ng mt u vo c dng iu khin c Jordan (4) [5]. 3.3 Tng hp iu khin cho h phi tuyn nhiu u vo Phng php tng hp iu khin cho h nhiu u vo (12) da trn nguyn l phn tch h (12) ra cc h con dng Jordan c cc bc c bn nh sau: 1. Nghin cu kh nng v lit k tt c cc phng n phn tch h ng hc nhiu u vo (12) ra cc h con dng Jordan (Jordan ton cc); 2. Chn mt phng n phn tch, tng hp iu khin di dng tham s cho tng h con trong phng n phn tch ny bng cch p dng phng php vi phi;

a tng i nh theo iu kin bi ton nn cosx3 1 , hn na ti nng c gi tr tng i ln, do c th cho cos x3 1 u1 u2 sin x3 u1 u2 sin x3 0 , (18) mt mt t nhn c: (19) x4 x6 x2 g sin x3 2x5 x6 . T (16), (17), (18), (19) ta nhn c: (20) z1 g sin x3 x5 x3 .
V x3 Trn thc t, gia tc nng ti l rt nh so vi gia tc ri t do g v ti nng dao ng vi mt gc a nh nn c th coi

x5 x3

la

l sin a

g sin a

g sin x3 , (21)
(22)

do t (20), (21) c th xp x: z1 g sin x3 . i bin trng thi: z1 x1 x2 x3 ; z2 x2 l0 ; z3

(23) z4 x4 x5 x3 x2 x6 ; z5 x5 ; z6 x6 . D dng kim tra ma trn Jacobi ca php bin i (23) khng suy bin: z det 1 0, x nn php bin i (23) l tng ng. Vit li h (3) i vi cc bin trng thi mi da trn kt qu (22):

x3 ;

VCCA-2011

482

Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

z1 z2 z3 z4 z5 z6 z4 ; z5 ; z6 ; g sin z3 ; z2 1 z2 l0 l0 z
2 6

g cos z3 g sin z3

sin z3 u1 mt 2 z5 z6

1 mp

sin 2 z3 u2 ; mt cos z3 sin z3 u2 . mt

(24)

cos z3 u1 mt

Bi ton tng hp iu khin tr thnh vic tm u1 , u2 a h (24) t trng thi ban u no

0 0 0 z1 , z2 ,..., z6 v gc ta (0,0,0,0,0,0,0).

S dng phng php c miu t trong mc 3.3, c th tch h (24) ra thnh hai h dng Jordan ton cc l h con:

z1 z4 z3 z6
ca cc bin trng thi z1 , z4 , z3 , z6

z4 ; g sin z3 ; z6 ; 1 z2 l0 g sin z3 2 z5 z6 cos z3 u1 mt cos z3 sin z3 u2 , mt

(25)

vi iu khin

u1 v h con:

z2 z5

z5 ; z2
2 l0 z6

g cos z3

sin z3 u1 mt

1 mp

sin 2 z3 u2 , mt

(26)

ca cc bin z2 , z5 vi iu khin u2 . Vi h con (25), ta xy dng h o theo (5):

5. M phng lut iu khin tng hp

Bng phng php miu t mc 3., ta tng hp c vector ( u1 , u2 ) em li iu khin n nh cho h cu trc (24). Trn hnh H.2 l kt qu m phng chuyn ng ca cu trc (24) di tc ng ca iu khin tng hp c. Gi tr ban u ca cc bin 0 0 0 trng thi: z10 1 , z2 0.5 , z3 0.1 , z4 0.1 ,
0 0 z5 0.05 , z6 0.2 . Gi tr cc tham s m phng nh sau: v 11 v12 v13 1; e11 e12 e13 0.5 ; v 21 v22 1 ; e21 e22 0.5 ; m t 2(kg ) ; mp 0.2(kg ) ;

y11 y12 y13

v11 v12 v13

y11 y
2 11 2 e11

y12 ; y13 ; ,
(27)

y12 y y
2 12 2 e12

y11
2 13 2 e13

cn vi (26), ta c h o:

y21 y22
y vij , eij

v21 v22
0.

y21
2 y21 2 e21

y22 ;
(28)

y22 y
2 22

2 22

10 m / s 2 ; l 0

1(m) ;

t y11 z1 , y21 z2 . Theo cc cng thc (7) v (8), t hai h o (25), (26) s nhn c h phng trnh tuyn tnh i vi hai n u1 , u2 . Gii h phng trnh mt cch thng thng bng phng php Cramer s nhn c cng thc ca u1 , u2 theo

xc nh qu trnh qu cho h cu trc ban u (3), ta xc nh gi tr ca cc bin trng thi ca (3) t (23): x1 z1 ( z2 l0 ) z3 ; x2 z2 l0 ; x3 z3 ; (29) x4 z4 z5 z3 z2 l 0 z6 ; x5 z5 ; x6 z6 . Trn hnh H.3 l qu trnh qu ca cc bin trng thi h (3) tnh theo (29). T kt qu m phng c th thy, khi kt thc qu trnh iu khin u1 bng 0, u2 khc 0. iu ny ging nh thc t l khi n v tr mc tiu, u2 phi khc 0 v cn phi c lc gi ti nng nm l lng cao

z1 , z2 , z3 , z4 , z5 , z6 . Cng thc u1 , u2 khng th hin

y do chng kh cng knh.

VCCA-2011

483

Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

H. 2

Qu trnh qu ca h (22)

H. 3

Qu trnh qu ca (3)

tng ng vi di cp treo l0 . Trn hnh v cng c th thy sai lch tnh b kh hon ton v cc qu trnh hu nh khng c tnh dao ng, thi gian iu khin xp x 6.5(s). Trong [6] trnh by phng php iu khin cu trc bng b iu khin PID trong trng hp c nh di cp treo, thi gian iu khin vi cng iu kin bt u, cng gi tr tham s nh trn l 10(s). Nh vy, lut iu khin tng hp c c hiu qu v mt tc ng nhanh.

6. Kt lun
Bi bo trnh by s ng dng mt phng php tng hp iu khin cho cc h nhiu u vo gii quyt mt bi ton phc tp - bi ton iu khin t ng h cu trc. Kt qu l tng hp c iu khin phi tuyn cho h cu trc vi nhiu u im nh trit tiu sai lch tnh, chnh xc cao, t dao ng, tc ng nhanh cao. [5] : . . . . . . . . 05.13.01, --. 2008 . [6] Trnh Lng Min, Nguyn Vn Tim: Thit k b iu khin phn hi trng thi cho h cu trc. K yu Hi ngh o lng ton quc ln th V, H ni, 2010. Tc gi Phan Nguyn Hi sinh nm 1979, nhn bng K s v Phn mm cho k thut tnh v cc h thng t ng ha nm 2005, nhn bng Tin s k thut v Phn tch h thng, iu khin v x l thng tin nm 2008 ti trng i hc k

Ti liu tham kho

[1] Yong-Seok Kim, Keum-Shik Hong, Seung-Ki Sul: Anti-Sway Control of Container Cranes: Inclinometer, Observer, and State. International Journal of Control, Automation, and Systems, vol. 2, no. 4, pp. 435-449, December 2004. Kokotovic, P.: The joy of feedback: nonlinear and adaptive. Control Systems Magazine, IEEE 12(3), 1992. Phan Nguyen Hai: Synthesis of -parametric quasi-time-optimal control law for bridge cranes. : , . . . . . -., -/., 2010. .: . , 2006. 7.

[2]

[3]

[4]

VCCA-2011

484

Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

thut sng ng, Lin bang Nga. T nm 2009 n nay tc gi l ging vin ca B mn Cng ngh phn mm, Khoa Cng ngh thng tin, Hc vin k thut qun s. Cc hng nghin cu chnh: K ngh phn mm, l thuyt iu khin v cc h thng nhng.

VCCA-2011

485