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

VCCA-2011


MIMO process control using the adaptive neural networks with MFA
algorithm as a reference model
Nguyn Quc nh, on Quang Vinh
rng i hc ch Khoa, i hc Nng
Email: nqdinh@dut.udn.vn

T
i o ny trnh y kt qu nghin cu vic s
ng h nron thch nghi thit k iu khin
mc cht lng cho h n nc i Ni ung i o
gii thiu m hnh ton hc MIMO ng vo - ng
ra ca i tng iu khin, t , gii thiu v thut
ton M iu khin qu trnh cho h n ng vo
n ng ra IO cng nh h ng vo nhiu ng
ra MIMO rong , lut cp nht trng s cho
mng nron thch nghi cng nh cu trc chi tit ca
iu khin MIMO c xy ng t cc iu
khin IO ring r cng c cp ti Hot ng
ca iu khin c thit k c m phng trn
phn mm Matla-imulink Kt qu m phng cho
thy iu khin lm vic rt tt Ni ung i
o ny s l tin cho vic thit k iu khin
lai kt hp gia H suy lun m v mng nron thch
nghi iu khin cho cc qu trnh phi tuyn MIMO
trong tng lai
Abstract
This paper presents research results in using the
adaptive neural networks to design the controller for
the liquid level of the water couple tank. This paper
presents the MIMO mathematical model with 2 inputs
and 2 outputs for plant. Besides, this paper also
introduces the MFA (Model-Free Adaptive Control
with CyboCon) algorithm to control the SISO as well
as MIMO systems. In which, the weight updating law
for neural networks and the detailed structure of
MIMO controller which is built from the separate
SISO controller are also mentioned in this paper. The
performance of the designed controller is simulated in
Matlab-Simulink software and simulation results
proved that the designed controller has worked very
well. The research results in this paper will be the first
step for designing the hybrid controller which
combines Fuzzy Logic Control and the adaptive
neural networks in order to control the MIMO
nonlinear processes in the future.

C
SISO single input single output
MIMO multi input multi output
MFA model free adaptive


N
1.
M hnh i tng h n nc i c m t nh
Hnh H n nc i lm i tng iu khin l
mt h phi tuyn vi ng vo l tn hiu in p
iu khin ng c m nc ut, ut v ng ra
l mc nc ht v ht


Vi qin, qin ln lt l lu lng nc my m
v m m vo n , n
qout, qout ln lt l lu lng nc chy ra ngoi
n , n
qout, qout ln lt l lu lng nc t n
qua n hoc t n qua n

heo ti liu tham kho [], m hnh ton i tng
c vit nh sau:



( )
( )
1
( ) ( ) 2 ( ) sgn( ( ) ( )) 2 ( ) ( ) (1)
1 1 1 1 1 1 12 1 2 12 1 2
1
1
( ) ( ) 2 ( ) sgn( ( ) ( )) 2 ( ) ( ) (2)
2 2 2 2 2 2 12 1 2 12 1 2
2
h t k u t a C gh t C h t h t a g h t h t
D D
A
h t k u t a C gh t C h t h t a g h t h t
D D
A
-
=
-
= +

H.1 hnh h n nc i
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011


VCCA-2011



2.

iu khin c thit k theo ti liu [] nghin
cu vic s ng thut ton hc M Moel-Free
Adaptive ontrol with yoon vi mng n ron
thch nghi.
heo [], gii thut iu khin cho iu khin
IO c cho i:
1
( ) ( ) ( ) 1
N
j ij i
i
p n w n E n
=
= +

(3)
( ) ( ( ))
j j
q n p n =
(4)
1 1
( ) ( ) ( ) 1 ( ) ( ) 1
N N
j j j j
j j
o n h n q n h n q n
= =
( | |
= + = +
( |
( \ .

(5)
( ) ( ) ( )
c
v t K o t e t ( = +

(6)
Mng n ron thch nghi ny vi lp nron c trng
s gia lp u v lp n l wij, trng s gia lp n
vi lp ra l hi Hai vect trng s ny c cp nht
theo lut cp nht sau:
1
( )
( ) ( ) ( )(1 ( )) ( ) ( )
( )
N
ij c j j i k
k
y n
w n K e n q n q n E n h n
u n
q
=
c
A =
c

(7)
( )
( ) ( ) ( )
( )
j c j
y n
h n K e n q n
u n
q
c
A =
c
(8)
Mng n ron thch nghi ng gii thut iu khin
M trn c ng vo, ng ra IO cho nn
vic iu khin cho i tng phi tuyn MIMO l h
n nc i th khng th c

3. ch nghi MIMO

rng hp iu khin i tng nhiu ng vo,
nhiu ng ra MIMO nh sau:




H.3 hnh iu khin I
iu khin
m-nron
H.2 ng nron thich nghi SIS
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011


VCCA-2011

th s iu khin cho ng vo ng ra ng

iu khin mc nc trong nh nc i nh sau:



rong , khi ontroller ao gm iu khin
IO c ghp ni nh trn, mi iu khin l
mng nron nh sau:



4. p trn
Matlab-Simulink.

hc hin kt ni iu khin vo m hnh i
tng trong Matla-imulink nh sau:



















H .4 iu khin ng vo ng r vi thut ton
H.5 ng n ron thch nghi cho cu trc I
733
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011


VCCA-2011




























5. p
MFA
Kt qu m phng n v n nh sau:













H.7 Gi tr t v gi tr thc c mc nc trong n 1


H.6 iu khin h n nc i ng mng n ron thch nghi
(
___________
: Mc nc t trc ca n (-----------: Mc nc thc ca n
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011


VCCA-2011





H.8 Gi tr t v gi tr thc c mc nc trong n



Bi o ny trnh y vic thit k mt iu
khin nron thch nghi s ng thut ton M Kt
qu m phng trn Matla-imulink cho thy hot
ng ca iu khin rt tt, gi tr thc ca n
nc cng nh n nc m rt st so vi tn
hiu t khi tn hiu t thay i gi tr uy nhin,
kt qu nghin cu s c tnh thuyt phc v kh nng
ng ng cao hn nu ta c th xy ng h thng
thc nghim cho i ton iu khin ny

T
[1] Teo Lian Seng.; Mazuki Khalid and Rubiyah
Yusof.: Tuning of a Neuro-fuzzy controller by
genetic algorithms with an application to a
coupled-tank liquid-level control system.
International Journal on Engineering
Applications on Artificial Intelligence, 1998
[2] Slim labiod.; Mohamed Seghir Boucherit.;
Thierry Marie Guerra.: Adaptive fuzzy control of
a class of MIMO nonlinear systems. Fuzzy set
and System 59-77 511, 2005
[3] Yih Guang Leu.; Tsu Tian Lee.; and Wei
Yen Wang.: Observer based adaptive fuzzy
neural control for unknown nonlinear
dynamical systems. 1999
[4] Guang-Minh Chen.; Wei Yen Wang.; Tsu
Tian Lee.; and C.W.Tao.: Observer based
Direct adaptive fuzzy-neural control for Anti-
lock braking systems. 1999








T.S Ny Q , sinh
nm 97 ti H Ni t
nghip K s in ti trng
H ch khoa Nng nm
996 t nghip hc s v
in s ti Vin ng ngh
Chu (AIT), Bangkok,
hailan ln lt vo cc nm
00 v 007 Hin l Gio vin Khoa in trng
H ch khoa Nng Lnh vc nghin cu: M
hnh ha v iu khin qu trnh phi tuyn MIMO s
ng h nron m.

PG. T Q V,
rng i hc ch Khoa
i hc Nng t nghip
i hc ngnh K thut in
nm 986 ti trng i hc
in My Plzen, ip
Khc Nhn ng in s
ngnh K thut in nm
1996 ti trng i hc y
ip, ng ha c nm 987 n nay: n
trng i hc ch khoa - i hc Nng
(
___________
: Mc nc t trc ca n (-----------: Mc nc thc ca n
735