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Chng 3: ieu khien thch nghi 3.1.ieu khien thch nghi mo hnh tham chieu MRAS. Hnh 3.1 la he thch nghi mo hnh tham chieu goc, c e ngh bi Whitaker vao nam 1958 trong o gii thieu hai y tng mi. Th nhat, ch tieu cua he c ac ta bi mo hnh; th hai tham so cua bo hieu chnh c chnh da tren sai so gia mo hnh tham chieu va he thc. He thch nghi mo hnh tham chieu phat sinh ban au t bai toan t chnh trong he lien tuc thi gian tien nh. Y tng va ly thuyet a c m rong bao gom he ri rac thi gian va he co nhieu ngau nhien. Mo hnh tham chieu

ym

Tham so hieu chnh C che ieu

chnh

Uc

Bo ieu khien

oi tng

Luat MIT: C cau chnh nh vi thong so sau c goi la luat MIT, c s dung cho he MRAS au tien (hnh 3.1-1): d e = e dt e khau tch phan

Hnh 3.1 : S o khoi cua he thch nghi mo hnh tham chieu

uc-y

Hnh 3.1-1:Mo hnh sai so.

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Gia smuon thay oi thong so cua bo ieu khien sao cho sai so gia ngo ra cua oi tng va cua mo hnh chuan tien ti zero. at e la sai so va la thong so hieu chnh. Ch tieu chat lng :
1 J = e2 2

(3.1-1)

e lam cho J() min (toi thieu) th can phai thay oi cac thong so theo hng am cua graien J,ngha la: J e = = e (3.1-2) t Gia s rang cac thong so can thay oi thay oi cham hn nhieu so vi cac bien khac cua he thong.V vay ao ham thc ao ham
e c goi la ham o nhay cua he thong.Luat ieu chnh theo e la o nhay th co lien he giong nh luat MIT. Cach phng trnh (3.1-2) vi e c tnh vi gia thiet la hang so.Bieu

chon ham ton that theo phng trnh (3.1-1) co the la tuy y..Neu chon J ( ) = e (3.1-3)

Khi o luat hieu chnh se la: d e sign(e) (3.1-4) = dt d e = .sign .sign(e) Hay dt Nay goi la giai thuat dau-dau. He ri rac s dung giai thuat nay c ng dung trong vien thong ni oi hoi tnh toan nhanh va thc hien n gian. Phng trnh (3.1-2) con c ap dung trong trng hp co nhieu thong so hieu chnh, khi o tr thanh moat vect va thong so tng ng. ng dung luat MIT c bieu dien bang hai v du sau: V du 3.1-1: Hieu chnh o li nuoi tien V du 3.1-2: MRAS cho he bac nhat (Nguyen Th Phng Ha, 2005[1]) Xet he thong c mota bi phng trnh:
dy == ay + bu dt e la graien cua sai so oi vi cac

(1)

Vi u la bien ieu khien, y la ngo ra c o lng. Gia s muon co c he vong kn c mo ta bi

dy m = am y m + bm u c dt

(2)

Mo hnh kem theo hoan hao co the at c vi bo ieu khien: u (t ) = t 0 u c (t ) s0 y (t ) (3) Vi tham so t 0 = bm / b; s0 = (am a) / b

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Chu y hoi tiep se la dng neu am<a, ngha la mo hnh mong muon th cham hn qua trnh. e ap dung luat MIT, s dung sai so e=y-ym vi y la ngo ra he kn. Theo phng trnh (1) va (3) th:
y= bt 0 uc p + a + bs0

(4)

Vi p la toan t vi phan.o nhay co the tnh c bang cach lay ao ham rieng phan theo tham so cua bo ieu khien s0 va t0.
b e uc = t 0 p + a + bs0

(5) (6)

b 2t0 b e u = y = 2 c p + a + bs0 s0 ( p + a + bs0 )

Cac cong thc nay khong the dung v thong so oi tng a va b cha biet.V vay can phai lam xap x e coluat hieu chnh tham so thc te.e thc hien ieu nay, au tien can quan sat vi gia tr toi u cua tham so bo ieu khien, ta co: p + a + bs0 = p + a m (7) Hn na can chu y la b co the c bao gom trong he so toc o thch nghi .Boi v no xuat hien trong tch b. ieu nay oi hoi dau cua b phai c biet. Sauk hi xap x, luat cap nhat cac tham so ieu khien co c la:
1 dt 0 = uc e dt p + am 1 ds0 = p+a dt m y e

(8) (9)

V du tren ch cach s dungluat MIT e tao c luat hieu chnh thong so. Ket quamo phong he MRAS trong th du 3.1-2 vi cac thong so nh sau: a=1,b=0,5, am=2 va bm=2.

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Hnh 3.1-2: ap ng ngo ra y, ngo ra tham chieu ym, va tn hieu ieu khien. Nhan xet: -He thong vong kn a at en ap ng mong muon ch sau moat thi gian ngan. -Toc o hoi tu phu thuoc vao hai thong so la va b.
*Thiet ke MRAS dung ly thuyet on nh Lyapunov Th du 3.1-3: He MRAS bac nhat da vao ly thuyet on nh.

Xet he thong c mota bi phng trnh:

dy == ay + bu dt

(1)

Vi u la bien ieu khien, y la ngo ra c o lng. Gia s muon co c he vong kn c mo ta bi

dy m = am y m + bm u c dt

(2)

Mo hnh kem theo hoan hao co the at c vi bo ieu khien: u (t ) = t 0 u c (t ) s0 y (t ) (3)

Khi tham so cua oi tng c biet luat ieu khien theo phng trnh (3) cho ket qua mong muon. Mot he thch nghi s dung mo hnh chuan ma co the tm ra cac he so t0 va s0 khi tham so a va b khong biet co the at c nh sau: Sai so :e=y-ym, Ham Lyapunov: 1 1 1 V (e, t 0 , s 0 ) = [e 2 + (bs0 + a a m ) 2 + (bt 0 bm ) 2 ] b b 2 Neu cac tham so c cap nhat: dt 0 = u c e dt ds0 = ye dt Ta c: dV = a m e 2 dt 3.2.ieu khien thch nghi t chnh STR.

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ac ta

Bo ieu khien t chnh Tham so oi tng

Thiet ke ieu khien

bo

c lng

Tham so bo ieu khien

Tham chieu

Bo ieu khien

oi tng u Ngo vao

Hnh 3.2 : S o khoi cua bo ieu khien t chnh 3.2.1.B iu khin t chnh STR : 3.2.1.1 tng c bn: Trong h thng thch nghi, ngi ta gi s rng tham s iu khin c iu chnh lin tc. iu ny c ngha l tham s iu khin thay i theo qu trnh. Tuy nhin, vic phn tch cc tnh cht hi t v n nh i vi cc h thng nh vy l kh. n gin bi ton, ngi ta gi s rng qu trnh c cc tham s l hng s nhng khng bit. Khi bit c qu trnh, th tc thit k xc nh mt tp hp cc tham s iu khin mong mun. B iu khin thch nghi phi hi t v cc gi tr tham s ny ngay c khi qu trnh khng bit. B iu khin vi tnh cht ny c gi l t chnh, bi v n tinh chnh b iu khin n cht lng mong mun. B iu khin t chnh (STR) da vo tng tch c lng tham s cha bit ra khi thit k b iu khin. tng ny c minh ha Hnh 3.2. Tham s cha bit c c lng trc tuyn, s dng cc phng php c lng quy. Cc tham s c lng c coi nh ng, ngha l khng xt n khng chc chn. iu ny c gi l Nguyn l Tng ng Chc chn. Nhiu s c lng khc nhau c th c s dng, chng hn nh bnh phng cc tiu, bnh phng cc tiu m rng, Cc phng php thit k c th c s dng l thay i cc tiu, bnh phng tuyn tnh, t cc v m hnh tham

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chiu. Phng php thit k c chn ph thuc vo yu cu cht lng vng kn v iu khin thc t. Di y l b iu khin t chnh nh t cc. Khi c lng tng trng cho c lng trc tuyn tham s qu trnh s dng cc thut ton bnh phng cc tiu. Khi Thit k tng trng cho li gii trc tuyn i vi bi ton thit k cho h thng vi tham s bit. y c gi l bi ton thit k c bn. Khi B iu khin tnh ton tn hiu iu khin t cc tham s c tnh ton khi trc. i khi thut ton STR c n gin bng cch tham s ha li v c lng trc tip cc tham s b iu khin, khng cn phi c lng cc tham s qu trnh.

3.2.1.2 B iu khin hai bc t do:

Hnh 3.3: B iu khin hai bc t do Xt qu trnh c m t bi h thng mt ng vo, mt ng ra (SISO) :

A q 1 y ( k ) = B q 1 u ( k ) + C q 1 e ( k )

( ) ( )

( )

( )

V b iu khin hai bc t do :
P q 1 u ( k ) = R q 1 w ( k ) Q q 1 y ( k )

( )

( )

Trong :

np P q 1 = p + p q 1 + p q 2 + ... + pnp q 0 1 2 Q q 1 = q + q q 1 + q q 2 + ... + qnq q nq 0 1 2 R q 1 = r + r q 1 + r q 2 + ... + rnr q nr 0 1 2

( ) ( ) ( )

np, nq, nr l bc ca cc a thc P, Q, R tng ng.

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B iu khin ny gm c thnh phn nui tin (feedforword) vi hm truyn R q 1 Q q 1 v thnh phn hi tip (feedback) vi hm truyn . Do , n c P q 1 P q 1 hai bc t do. S khi ca h thng vng kn c minh ha Hnh 3.3. Kh u(k) ta c p ng vng kn :
y (k ) = BR CP w(k ) + e(k ) AP + BQ AP + BQ

( ) ( )

( ) ( )

Trong AP + BQ l a thc c trng vng kn. Mong mun c p ng vng kn:

B ym ( k ) = m w ( k ) Am

T , ta c (gi s e(k)=0):
BR = AP + BQ Bm Am

Mt cch tng qut, deg ( AP + BQ ) > deg ( Am ) . Suy ra, BR v AP + BQ c tha s chung A0, gi l a thc quan st. Theo nh mong mun, ch kh b cc zero n nh. Do , phn tch B thnh B+B-. Trong : T , ta c:
B BR B+ B R = m = AP + BQ Am AP + B + B Q A Bm 0 A Am 0

B+ : cha cc zero n nh v b kh B- : cha cc zero khng n nh v khng b kh

Suy ra:
P = P B+ 1

Do :
AP + B Q = A Am 1 0

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129

iu kin b iu khin nhn qu:

deg ( Q ) deg ( P ) deg ( R ) deg ( P ) deg ( Am ) deg ( Bm ) deg ( A) deg ( B ) deg A 2deg ( A ) deg B + deg ( Am ) 1 0

( )

( )

3.2.1.3 Cc thut ton t cc: Thut ton 3: Thit k t cc vi tt c zero khng b kh Cc d liu cho: a thc A, B Cc ch tiu cht lng: a thc Am, Bm, A0 Cc iu kin tng thch: B chia ht Bm deg(Am)-deg(Bm) deg(A)-deg(B) deg(A0) 2deg(A) - deg(Am) 1 Bc 1. Gii phng trnh: AP + BQ = A0Am B Bc 2. Tnh R = m A B 0 Bc 3. Tnh lut iu khin P q 1 u ( k ) = R q 1 w ( k ) Q q 1 y ( k ) Trong a thc R c th c tnh theo 2 cch sau: Cch 1. li DC t R = r ' A 0 0

( )

( )

( )

Br ' A BR B y (k ) = w( k ) = 0 0 w( k ) = r' w k 0 Am ( ) AP + BQ Am A 0 ng ra bm theo ng vo trng thi xc lp th:

A ( q = 1) r' = m 0 B ( q = 1) Cch 2. tng nguyn l m hnh mi:

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e(k ) = w(k ) y (k ) BR = w(k ) w(k ) AP + BQ BR = 1 w(k ) D

Vi D = ama0 Gi F l a thc pht sinh ca w(k) , tc l Fw(k)=[0] V d nu w(k) l hm nc th: F = 1 q 1 Cn nu w(k) l hm sine th: F = 1 2cos(T0 )q 1 + q 2 sai s xc lp bng 0, th D -BR = FS vi S l a thc bt k. V
D BR e(k ) = w(k ) D FS S = w(k ) = Fw ( k ) D D = [ 0]

Gii phng trnh ny s c R.

3.2.2. B iu khin PID: 3.2.2.1 Gii thiu:

B iu khin PID c s dng rt rng ri trong thc t iu khin nhiu loi i tng khc nhau nh nhit l nhit, tc ng c, mc cht lng trong bn cha. Theo cc bo co th hn 98% cc qu trnh trong cng nghip s dng b iu khin PID. L do b iu khin ny c s dng rng ri nh vy l n c kh nng trit tiu sai s xc lp, tng p ng qu , gim vt l nu cc tham s b iu khin c chn la thch hp. Do s thng dng ca n nn nhiu hng sn xut thit b iu khin cho ra i cc b iu khin thng mi rt thng dng. Thc t cc phng php thit k b iu khin PID dng qu o nghim s, gin Bode hay phng php gii tch rt t c s dng do s kh khn trong vic xy dng hm truyn i tng. Phng php ph bin nht chn tham s b iu khin PID thng mi hin nay l phng php Ziegler-Nichols.

B iu khin PID c hm truyn nh sau: Trong min lin tc:

G ( s) = K p +
Ki + Kd s s

Trong min ri rc:

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131 K iT0 1 + q 1 K d + (1 q 1 ) 1 2 1 q T0

G (q 1 ) = K p +

Di y l s b iu khin PID.

Hnh 3.4: S khi b iu khin PID Cng thc tnh tn hiu iu khin u(k) t sai s e(k): 1k d u (k ) = K p e(k ) + e( s)ds + Td e(k ) Ti 0 dt Trong : u(k): tn hiu iu khin e(k): l sai s c nh ngha e(k) = w(k) y(k) w(k): l tn hiu t y(k): l ng ra
3.2.2.2 Phng php p ng qu : Nhiu m hnh cng nghip c p ng nc nh Hnh 3.5

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Hnh 3.5: p ng nc ca mt qu trnh cng nghip tiu biu p ng ny c th xp x bng hm truyn sau :
k Ls G (s) = e ZN Ts + 1 Trong : k l li tnh L l thi gian tr T l hng s thi gian Ch : a=k
L T

Mt cch n gin xc nh cc tham s ca b iu khin PID l da vo p ng nc c Ziegler-Nichols pht trin. Phng php ny ch s dng hai tham s nh Bng 3.1 sau. B iu khin P PI PID Ti Kp 1/a 0.9/a L/0,3 1.2/a 2L Bng 3.1 Td L/2

Quy lut ny c pht trin bi cc m phng thc nghim nhiu h thng khc nhau. N c nhc im l h thng vng kn vt l nhiu. C th chnh sa cc tham s c kt qu tt hn.
Bai tap: 1. ieu khien thch nghi mo hnh tham chieu MRAS. 2.ieu khien thch nghi t chnh STR 3. Luat MIT. 4. Giai thuat ieu khien t chnh dung phng phap at cc. 5. ieu khien PID so. 6.Thiet ke MRAS dung ly thuyet on nh Lyapunov 7.ng dung Matlab mo phong v du 3.1-3.

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Chng 4: ieu khien m 4.1. He thong vi s khong chac chan 4.1.1.c lng trang thai vi nhieu ngau nhien Trong phan trc chung ta gia s thong tin o lng trong bo c lng la hoan hao. Tuy nhien nay la trng hp kho v moi cam bien co moat so khiem khuyet. Th du nhieu ien cua cam bien co the c mo ta nh la bien ngau nhien them vao phng trnh ngo ra: y (kT ) = C.x(kT ) + e(kT ) (1) Moi thanh phan cua vect nhieu e(kT) c mo hnh nh la chuoi cac bien ngau nhien, dang t nh la so ngau nhien. Khi nhieu o lng hien dien, phng trnh (1) c dung co tnh toan nhieu. Cau truc c lng c thay oi: (kT + T ) = x (kT ) + u (kT ) + K [ y (kT ) Cx (kT )] x (2) (kT ) + u (kT ) + K [Cx(kT ) + e(kT ) Cx (kT )] = x 4.1.2. He m

4.1.2.1.LOGIC M He m la he thong da tren tri thc hay da tren luat. Trai tim cua he m la c s tri thc gom co cac luat Neu-Th. Chang han luat neu th sau : Neu toc o xe la cao th ap dung t lc . trong o t cao va t c ac trng bi ham thanh vien tng ng. He m c ng dung trong may giat, on nh anh so, trong xe hi, che tao xi mang, ieu khien m ng xe la,vv... 4.1.2.1.1.Tap m nh ngha tap hp kinh ien

Tat ca nhng oi tng xac nh nao o hp lai tao thanh mot tap hp, moi oi tng la mot phan t cua tap hp. Th du : Tat ca nhng ngi Viet nam tren the gii tao thanh tap hp ngi Viet nam. Moi ngi Viet nam la mot phan t cua tap hp o. Neu a la phan t cua tap hp E ta noi a thuoc E va viet a E . Neu a khong la phan t cua E ta noi a khong thuoc E va viet a E . Th du : 4 tap hp cac so chan. Tap rong la tap hp khong co phan t nao. Neu moi phan t cua A cung la phan t cua B th ta noi A bao ham trong B hay A la tap con cua B. Ky hieu : A B . Con co mot phng phap khac nh ngha tap ro A - phng phap thanh vien, gii thieu ham thanh vien zero- mot (con goi la ham ac trng) oi vi A va c ky hieu A ( x) e ma :

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