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Chng 1

iu khin qu trnh
Chng 2: M hnh qu trnh phn II

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18/08/2006

2.4 M hnh ha thc nghim


u u u
1 2

y y y
Y (s ) U (s )

1 2

G(s ) =

A B x x = C D y u
...
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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V d minh ha n gin
Gi thit: y = a0 + a1u t = [a0, a1]T Dy s liu thc nghim: u = [u1, u2, u3]T y = [y1, y2, y3]T H phng trnh:
1 u1 y1 a0 1 u2 = y 2 a 1 u3 1 y3

y
y3 y2 y1

Nghim ti u:

u1 u2 u3

= (T )1 T y
Ch n gin l xp x a thc?
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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C mt vi vn trong v d
Ti sao li ly 3 cp s liu m khng phi l 2, 4, 5, 6, ? Nu s liu o khng chnh xc th sao? Lm sao bit trc c y = a0 + a1u. Nu l khc th sao? Ta b qua yu t thi gian. Ci chng ta cn quan tm khng ch l quan h tnh, m quan trng hn chnh l c tnh ng hc ca h thng! (ngha l quan h gia u(t) v y(t))

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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nh ngha nhn dng


Phng php xy dng m hnh ton hc trn c s cc s liu vo-ra thc nghim c gi l m hnh ha thc nghim hay nhn dng h thng (system identification). Theo IEC 60050-351: Nhn dng h thng l nhng th tc suy lun mt m hnh ton hc biu din c tnh tnh v c tnh qu ca mt h thng t p ng ca n i vi mt tn hiu u vo xc nh r, v d hm bc thang, mt xung hoc nhiu tp trng. Theo Lofti A. Zadeh: Trn c s quan st s liu vo/ra thc nghim, cc nh cc tham s ca m hnh t mt lp cc m hnh thch hp, sao cho sai s l nh nht.
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Cc yu t c bn ca nhn dng
S liu vo/ra thc nghim:
Xc nh nh th no? Trong iu kin no? Dng nhiu (nhiu qu trnh, nhiu o), ln ca nhiu?

Dng m hnh, cu trc m hnh


M hnh phi tuyn/tuyn tnh, lin tc/gin on hm truyn t/khng gian trng thi, Bc m hnh, thi gian tr

Ch tiu nh gi cht lng m hnh


M phng v so snh vi s liu o nh th no?

Thut ton xc nh tham s


Rt a dng -> thut ton no ph hp vi bi ton no?

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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Cc bc tin hnh
1. Thu thp, khai thc thng tin ban u v qu trnh (apriori information) 2. La chn phng php nhn dng (trc tuyn/ ngoi tuyn, vng h/vng kn, ch ng/b ng, thut ton nhn dng, ...). 3. Ly s liu thc nghim cho tng cp bin vo/ra, x l th cc s liu nhm loi b nhng gi tr o km tin cy. 4. Quyt nh v dng m hnh v gi thit ban u v cu trc m hnh 5. La chn thut ton v xc nh cc tham s m hnh 6. M phng, kim chng v nh gi m hnh 7. Quay li mt trong cc bc 1-4 nu cn
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Phn loi cc phng php nhn dng


Theo dng m hnh s dng: phi tuyn/tuyn tnh, lin tc/gin on, m hnh thi gian/tn s Theo dng s liu thc nghim: ch ng/b ng Theo mc ch s dng m hnh: trc tuyn, ngoi tuyn Theo thut ton c lng m hnh:
bnh phng ti thiu (least squares, LS), phn tch tng quan (correlation analysis), phn tch ph (spectrum analysis), phng php li d bo (prediction error method, PEM) phng php khng gian con (subspace method).

Nhn dng vng h/vng kn


Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Nhn dng vng h/vng kn


u
QU TRNH

a) Nhn dng vng h

B IU KHIN

QU TRNH

b) Nhn dng vng kn


Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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nh gi v kim chng m hnh


Tt nht: B s liu phc v kim chng khc b s liu phc v c lng m hnh nh gi trn min thi gian:
1 = N

k =1 2 [ ( ) ( )] y kh y kh N

h l chu k trch mu tn hiu (chu k thu thp s liu) k l bc trch mu tn hiu (bc thu thp s liu) y l gi tr u ra o c thc nghim l gi tr u ra d bo trn m hnh y

nh gi trn min tn s
( j ) G( j ) G 100% E = max O G( j )
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Ch v cc u vo-ra
u (tn hiu m van)

y (tn hiu o)

TT

M hnh thc nghim th hin c c tnh qu trnh, c tnh thit b o v thit b chp hnh (thm ch c h thng truyn thng)!
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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2.4.1 Nhn dng da trn p ng qu

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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Xp x v m hnh n gin
p ng qun tnh (a): c th xp x thnh m hnh qun tnh bc nht hoc bc hai c tr
FOPDT: first order plus dead-time SOPDT: second order plus dead-time

p ng dao ng tt dn (c): c th xp x thnh m hnh dao ng bc hai (SOPDT). p ng tch phn (d): c th a v xp x thnh m hnh qun tnh bc nht hoc bc hai c tr cng thm thnh phn tch phn. p ng qun tnh - ngc (b): m hnh c cha im khng nm bn phi trc o (h pha khng cc tiu) => cn phng php chnh xc hn
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Phng php k tip tuyn


M hnh FOPDT:

( s) = G

k e Ls 1 + Ts

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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V d qu trnh c m hnh l tng G( s) = M hnh c lng:


( s) = G 2 e 2.2s 1 + 3.25s

2 ( s + 1)5

m hnh l tng, m hnh c lng


Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Phng php hai im qui chiu


M hnh FOPDT:

( s) = G

k e Ls 1 + Ts

T = 1.5(t2 t1 ) L = 1.5(t1 t2 / 3) = t2 T

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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V d qu trnh c m hnh l tng G( s) =

t1 = 3.55s, t2 = 5.45s => T = 1.5(5.4s 3.5s) = 2.85s v L = 5.45s 2.85s = 2.6s. 2 ( s) = M hnh c lng: G e 2.6 s 1 + 2.85s

2 ( s + 1)5

m hnh l tng, m hnh c lng


Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Phng php din tch


M hnh FOPDT:

( s) = G

k e Ls 1 + Ts
A0 T +L= ku
t

y = k u

A0

[ y y(t)] dt
0

ku

A1 T+ L
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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eA1 T= = ku

T +L

ydt

ku

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Phng php hai im qui chiu


M hnh SOPDT
( s) = G k e Ls (1 + T1s)(1 + T2s)

H s khuch i tnh xc nh da trn gi tr xc lp Thi gian tr xc nh da trn k tip tuyn ti im un (hoc phn tch s liu trn my tnh) Chn hai im qui chiu T1 v T2 (v d tng ng vi 33% v 67% gi tr xc lp):

1+

T2e

ti L T2

T1e T1 T2

ti L T1

y(ti ) = 0, y

i = 1,2

Gii c bng phng php s, khng c g phc tp nu s dng cc cng c tnh ton nh MATLAB (v d hm fsolve trong Optimization Toolbox)
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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2 V d qu trnh c m hnh l tng G( s) = ( s + 1)5 M hnh c lng:


k = 1.08, L = 12.3s T1 = 2.9985s v T2 = 2.9986s

( m hnh l tng, m hnh FOPDT, m hnh SOPDT)

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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M hnh cha khu tch phn


M hnh hm truyn:
GIT 1 D k = e Ls s(1 + Ts )
GIT 2 D = k e Ls s(1 + T1s)(1 + T2s)

C th a v nhn dng m hnh FOPDT hoc SOPDT :


S dng tn hiu kch thch dng xung thay cho tn hiu bc thang. S dng tn hiu kch thch dng bc thang, nhng ly s liu l o hm ca tn hiu u ra thay cho trc tip gi tr u ra. Nhc im: c th a qu trnh ra khi phm vi lm vic cho php.

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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2.4.2 Phng php phn hi r-le


strm v Hgglund a ra nm 1984 c lng h s khuch i ti hn Ku v chu k dao ng ti hn Tu => chnh nh b PID theo phng php Ziegler-Nichols 2 Thc cht l mt phng php tn s, ch nhn dng c c tnh tn s ti tn s tng ng vi 180O ca h kn Mt trong nhng phng php nhn dng h kn c s dng nhiu nht bi cc u im:
n gin, d tin hnh t chu nh hng ca nhiu Nhn dng h kn xung quanh im lm vic
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Cch thc tin hnh


r=0
+d -d

G(s)

y
Ku = 1 4d = G( ju ) a

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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2.4.3 Thut ton bnh phng ti thiu


Gi s qu trnh c th c m t bi

y(ti ) = 1 (ti )1 + 2 (ti )2 +

+ n (ti )n = T (ti )

y(ti) l gi tr ca i lng quan st ti thi im ti l vector tham s ca m hnh cn xc nh T l vector hm bit trc (vector hi qui)

= [1 2 n ]

T (ti ) = [1 (ti ) 2 (ti ) n (ti )]

cn c la chn nhm ti thiu ha hm mc tiu cho


mt khong thi gian quan st [t1, tN]:

(ti )) = y(ti ) (ti ) V ( ,tN ) = ( y(ti ) y


2 T i =1 i =0

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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S dng cc k hiu:
T (t1 ) = , T (tN ) N n

y(t1 ) , = y(tN )

N 1

Ta c th vit
=

a v bi ton tm nghim ti u ton phng


= arg min ( )T ( )

Nghim ti u vi T kh o v n N (K kch thch) = ( T )1 T =


Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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c lng tham s m hnh FIR


M hnh p ng xung hu hn (finite impulse response, FIR):
n

y(t ) =

giu(t i )
i =1

Xc nh dy trng lng { gi } t vector tham s:

= [ g1 g2 gn ]T
Vector hi quy:

T (t ) = [ u(t 1) u(t 2) u(t n) ]


Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Chn thi gian quan st t (n + 1) n t, ta c:

= [ y(n + 1) y(n + 2)
u(n) u(n 1) = u(t 1) u(t 2)
= (T )1 T =

y(t ) ]

u(1) u(t n)

u(t) phi m bo iu kin kch thch. Gi s tn hiu bc thang c chn, kh nng rt cao l mt s ct ca s ging nhau hon ton v do ph thuc tuyn tnh. => Tn hiu thch hp nht l dng ngu nhin, v d n trng hoc PRBS (pseudo random binary signal)
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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V d c lng m hnh FIR


M phng p ng bc thang n v ca qu trnh c hm truyn:

2 1.5s G(s) = e (s + 2)(s + 3)(s 2 + 0.6s + 1.09)


chu k trch mu tn hiu T = 0.5s, gii hn quan st t = 100T, chiu di dy trng lng n = 40

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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c lng tham s m hnh ARX


Gi s qu trnh c m t bi m hnh ARX:

A (q 1 )y (t ) = B (q 1 )u (t d ) + e (t )
trong d > 0 (cho trc) v

A (q 1 ) = 1 + a 1q 1 + B (q 1 ) = b 0 + b1q 1 +

+ a na q na + bn b q n b

Phng trnh c vit li di dng

y (t ) = a 1y (t 1)

a na y (t n a ) + + bnb u (t d n b ) + e(t )
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+b0u (t d ) + b1u (t d 1) +

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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t vector tham s m hnh cn xc nh l

= [ a1
v vc t hi quy

a na

b0

bnb ]T

T (t ) = [ y (t 1)
ta c th vit

y (t na ) u (t d )

u (t d nb ) ]

(t ) + e(t ) y (t ) = T (t ) + e(t ) = y
M hnh tt nht c coi l m hnh a ra d bo li nh nht theo ngha bnh phng ti thiu, tc l
2 = arg min ( ) ( , ) y t y t ( ) i i i =1
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Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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m = max(na, nb + d ) + 1
v chn thi gian quan st t m n t, ta c

y(m 1) = y(t 1)
v

y(m na ) u(m d ) y(t na ) u(t d ) y(t ) ]


T

u(m d nb) u(t d nb)

= [ y(m )

D thy rng ma trn cn phi c s hng ln hn hoc bng s ct v v th gii hn quan st t cn c chn t nht bng m + n a + n b 1

= ( T )1 T =
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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V d qu trnh c m hnh l tng


G(s ) = 2 1.5s e (s + 2)(s + 3)(s 2 + 0.6s + 1.09)

c m phng cho trng hp khng c nhiu o v c nhiu tp trng (t l NSR 5%) ly s liu Chu k trch mu T = 0.5s, gii hn quan st t = 10s (20*T) Cu trc m hnh c chn: na = nb = 3, d = 3 Kt qu kim chng m hnh nhn c

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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La chn cu trc m hnh


Thi gian tr bit trc: chn na = nb v tin hnh c lng tham s theo mt quy trnh lp, bt u vi mt s nh cho n khi sai lch m hnh (kim chng da trn b s liu thc nghim khc) c th chp nhn c. Thi gian tr cha bit trc: tin hnh nh trn nhng sau kim tra cc tham s ca m hnh. Nhng tham s u ca a thc t s c gi tr xp x khng cho bit thng tin v thi gian tr ca qu trnh => gim bc ca c hai a thc t v mu (tc na v nb) ng bng s tham s ca xp x khng, sau chy li thut ton c lng tham s mt ln na tm ra m hnh c tr thc.
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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2.4.4 MATLAB Identification Toolbox


Biu din s liu thc nghim
Data = iddata(y,u,Ts)

Dng m hnh s dng:


p ng tn s: to m hnh bng lnh idfrd Cc m hnh a thc (ARX, ARMAX, Box-Jenkins, PE,...): to m hnh bng cc lnh idpoly, idarx, ... M hnh trng thi: to m hnh bng lnh idss

Thut ton c lng mhnh:


M hnh FIR: hm impulse M hnh p ng tn s: hm spa v etfe M hnh ARX v AR: hm arx, ax, iv4 v ivx c lng m hnh ARMAX v ARMA: hm armax c lng m hnh trng thi: hm n4sid
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Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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V d qu trnh c m hnh l tng


G(s ) = 2 1.5s e (s + 5)(s + 9)(s 2 + 0.6s + 1.09)

M chng trnh
% create simulation data G = zpk([],[-0.3+j -0.3-j -5 -9],2, 'Inputdelay',1.5); h = 0.5; time = [0:h:20]'; u = randn(size(time)); y = lsim(G,u,time); % estimate model parameters data = iddata(y,u,h); M1 = arx(data,[3 3 3]); M2 = arx(data,[4 4 3]); % plot step responses step(M1,'k+',M2,'k.',20); hold on; step(G,'k-',20); grid on;
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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2.4.5 La chn phng php nhn dng


Qu trnh cho php nhn dng ch ng v i tng c th xp x v m hnh FOPDT (hoc c th c thm thnh phn tch phn): Phng php hai im qui chiu theo n gin v d p dng trc quan nht, Nu c nhiu o v thut ton c thc hin trn my tnh th phng php din tch cho kt qu chnh xc hn. Qu trnh cho php nhn dng ch ng v phng php thit k iu khin s dng trc tip m hnh gin on: Nn chn cc phng php c lng da trn nguyn l bnh phng ti thiu p dng cho m hnh ph hp vi bi ton iu khin (FIR, ARX, ARMAX,).

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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Qu trnh khng cho php nhn dng ch ng vng h: Phng php nhn dng da trn phn hi r-le v cc phin bn ci tin t ra tng i a nng v c bit ph hp cho thit k iu khin trn min tn s. Nu cht lng m hnh cn cao hn th nn p dng cc phng php bnh phng ti thiu. Qu trnh hon ton khng cho php nhn dng ch ng: Nu phng php thit k iu khin s dng trc tip m hnh gin on th cc phng php bnh phng ti thiu l ph hp nht. Ch nn s dng phng php phn tch ph tn hiu khi phng php thit k iu khin hon ton trn c tnh tn s.

Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim

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Tm tt yu cu bi ging
Hiu r cc yu t c bn trong xy dng m hnh bng phng php thc nghim Nm c cc vn kh khn, tr ngi trong cc bc tin hnh nhn dng Hiu c nguyn tc c bn v c c k nng t thc hin c (bng m phng) phng php c lng cc m hnh n gin da trn p ng bc thang n v/phng php phn hi r-le Nm c nguyn tc c bn ca phng php bnh phng cc tiu, p dng c trn hai lp m hnh FIR v ARX (thng qua m phng) Nm c s lc v chn phng php
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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Phn t hc/t nghin cu


c thm
Chng 4 cun sch gio trnh: C s h thng iu khin qu trnh. Cun sch Nhn dng h thng iu khin (tc gi PGS. Nguyn Don Phc) Cun sch System Identification Theory for Users (tc gi: L. Ljung).

Cu hi, bi tp:
Cc cu hi v bi tp cui chng 4 trong sch gio trnh S dng MATLAB, chy li cc v d trong bi ging v trong chng 4 ca cun sch T ly v d v p dng cc phng php hc.
Chng 2: M hnh qu trnh 2.4 M hnh ha thc nghim
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