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

VCCA-2011

T1
T2
T3
T4
T5
T6
ua ub uc
iu khin nhit trong l in tr s dng thut ton m-nron
Temperature control for resistance furnace using neural fuzzy system
Nguyn Quc nh Hunh Gia Sn
Trng H Bch khoa, H Nng Trng H Duy Tn, Nng
Email:nqdinh@dut.udn.vn

Tm tt
Bi bo ny trnh by kt qu nghin cu vic s
dng thut ton m-nron iu khin nhit
trong l in tr. Thng qua vic m phng hot ng
ca cc b iu khin trn Matlab Simulink, so snh
vi vic s dng b iu khin kinh in PID cng
nh b iu khin m th kt qu l vic s dng
thut ton m-nron hn ch c qu iu
chnh, y l iu rt mong mun i vi i tng
iu khin l nhit .
Abstract
This paper presents research results in using the
neural-fuzzy controller to control temperature of
resistance furnace. In comparison with PID controller
as well as fuzzy logic controller, the neural fuzzy
controller limited the overshoot value significantly,
that is the desired thing for temperature control for
resistance furnace. Performance of the above-
mentioned controllers are evaluated by doing
simulations in Matlab Simulink
K hiu
K hiu n v ngha
t
qd
giy Thi gian qu
t
r
giy Tc iu chnh
W
k
hm truyn b iu khin
s
0
C qu iu chnh
Ch vit tt
ANFIS
Adaptive-Network-based
Fuzzy Inference Systems
BP Back Propagation
FIS Fuzzy Inference System

Phn m u
Ngy nay khoa hc k thut khng ngng pht trin,
t bit i vi nc ta ang trong thi k cng
nghip ha-hin i ha, cng chnh v mc tiu
m vic ng dng cc phng php iu khin mi,
linh hot hn vo qu trnh iu khin t ng l rt
cn thit.
Nhng phng php iu khin c in hu nh da
trn nn ton hc chnh xc. Tuy nhin k thut iu
khin m bt ngun t nhng sch lt v kinh
nghim ca chuyn gia c th thot c nhng
rng buc t nhng phng php ton hc chnh xc.
Cng chnh v vy m iu khin m c ng dng
rng ri trong iu khin qu cng nghip. Bn cnh
iu khin m ta cn c phng php iu khin s
dng mng nron ti to li chc nng ging con
ngi m ra mt hng mi trong vic gii quyt
cc bi ton k thut v kinh t.
iu khin nhit l in tr thng kh phc tp
do i tng c tnh tr v phi tuyn. Ngy nay vi s
ra i ca nhiu phng php iu khin khc nhau,
mi phng php chc hn s c nhng im mnh
ring. Nu c th kt hp tt cc phng php vi
nhau c th mang n mt hiu qu cao trong iu
khin. Cng chnh v nhng yu t trn m vic kt
hp h m v nron c nghin cu l mc ch ca
bi bo ny.

Ni dung chnh
2.1 L in tr
L in l thit b bin i in nng thnh nhit
nng, dng trong cng ngh nung nng, nu chy vt
liu. Khi dng in chy qua vt dn c in tr l R(
vt rn hoc cht lng), n s to ra nhit lng trong
vt th theo nh lut Joule-Lence. Nng lng nhit
ny s t nng bn thn vt dn hoc gin tip t
nng cc vt nung xp gn . Nhng thit b nung
lm vic theo nguyn tc ny c gi l l in tr.
Dy dn hoc vt nung c dng in chy qua c
gi l dy in tr hoc dy nung
Qua tnh ton vi s liu in p, cng sut v nhit
iu khin ta chn dy kim loi Molipden lm dy
in tr.
Ta lp c bng sau:
Thng s S liu n v M t
P 90 KW Cng sut l
T 1500
0
C Nhit nung
d 1,4 mm ng knh dy
in tr
l 6,6 m Chiu di dy
in tr
0,4
2
( . / ) mm m O

in tr sut
ca vt liu
B.1 Bng thng s l in tr iu khin.
2.2 Thit k b iu p xoay chiu ba pha
Ta chn s mch ng lc nh sau:











H.1 S mch ng lc
617
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011


B iu khin iu p xoay chiu ba pha c tnh tr,
do hm truyn ca b iu khin s l:
( )
dk
T s
dk dk
W s K e

=
Trong :
1 1
0, 0017
2 2.6.50
dk
T
pf
= = =

Vi p: s xung p mch ca s
f: tn s in p li
Ta c bin i sau y:
2
( )
1 ... 1 1
1! 2! 1!
dk
T s dk dk dk
dk
T s T s T s
e T s = + + + ~ + = +

V vy ta vit li:
( )
1
dk
T s dk
dk dk
dk
K
W s K e
T s

= ~
+

in p cp cho l c gi tr nh mc l 230 V v
uk ta chn 10V Ud t nh mc, suy ra Kdk =
23.
Vy hm truyn ca b iu khin iu p :
23
( )
1 1 0.0017
dk
T p dk
dk dkl
dk
K
W p K e
T p p

= ~ =
+ +
(1)


H.2 M phng iu khin PID cho nhit l in tr


H.3 Kt qu m phng iu khin PID l in tr

Qu trnh iu khin S liu
qu iu chnh 500(
0
C)
Thi gian qu (t
q
) 300(s)
Tc iu chnh (t
r
) 25(s)
B.2 S liu t c khi s dng b iu khin PID

2.3 iu khin nhit trong l in tr s dng
b iu khin PID
Trong k thut iu khin, ngi ta m t l in tr
bng mt khu qun tnh bc nht c tr c hm s
truyn:
.
( )
1
s
k e
W s
Ts
t
=
+

Ta ly:
6.52, 150( ), 25( ) k T s s t = = =

25
6.52
( )
1 150 1
S S
k
W s e e
Ts s
t
= =
+ +
(2)
Cm bin nhit c coi l mt khu t l vi h
s:
0
0
10
0.0067( )
1500
cb
V
V
k
C
C

M ta c :
25
0.167
150 T
t
= =

Tha mn iu khin s dng phng php th nht
ca Ziegler Nichols, s dng b iu khin PI:
0.9*150
0.83
6.52*25
p
T
k
kt
= = =
(3)
10
83.3 k 0.01
3
p
I I
I
K
T
T
t = = = =
(4)
2.4 iu khin nhit trong l in tr s dng
b iu khin m










H.4 iu khin m l in tr

- Bc 1: Tm hiu h thng
L in tr dng gia nhit chi tit bng kim loi
cho cc cng on nh ti, ram. L in tr c
nung nng bng dy in tr, ngun in cung cp
cho l l ngun p c th iu chnh c. Vic iu
khin nhit l c thc hin thng qua iu khin
in p cung cp cho l.
Khu so snh lm nhim v so snh in p t v
in p phn hi ly t u ra ca khi cm bin, u
ra ca khu so snh l sao lch e = U ucb. L in
tr ni ring, cng nh i tng nhit ni chung
thng khng cho php c qu iu chnh, do e
bin thin trong khong t 10 n 0.
- Bc 2: Chn cc bin ngn ng vo, ra
iu khin l in tr theo quy lut PI, khi bin
ngn ng u vo b iu khin m l sai lch (k
hiu l E) v tch phn sai lch (k hiu l TE). u ra
b iu khin m l in p (k hiu l U). Min gi
tr ca cc bin ngn ng c chn nh sau:
E = [010]
TE = [01500]
U = [020]
Hm lin thuc ca cc bin ngn ng c chn nh
sau:
E = [E
0
(x) E
DI
(x) E
DV
(x) E
DL
(x) E
DR
(x)]
TE = [TE
0
(x) TE
DI
(x) TE
DV
(x) TE
DL
(x)
TE
DR
(x)]
U=[U
0
(x) U
DI
(x) U
DV
(x) U
DL
(x) U
DR
(x)]
Cm bin
nhit
e
T(t)
edt
K m
L
in tr
T
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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

- Bc 3: Xy dng lut hp thnh: Vi 5 tp m
ca mi u vo, ta xy dng c 5 x 5 = 25 lut
iu khin. Cc lut iu khin ny c xy dng
theo 2 nguyn tc sau:
- Sai lch cng ln th tc ng iu khin cng
ln.
- Tch phn sai lch cng ln th tc ng iu
khin cng ln.

TE E 0 DI DV DL DR
DR DR DR DR DR DR
DL DL DR DR DR DR
DV DV DL DR DR DR
DI DI DV DL DR DR
0 0 DI DV DL DR
B.3 Bng lut iu khin
- Bc 4: Chn lut hp thnh Max-Min, gii m
bng phng php trng tm, ta quan st c s tc
ng ca cc lut v quan h vo - ra ca b iu
khin.
- Bc 5: M phng h thng:
- Ti ca s lnh trn Matlab ta nhp lnh fuzzy,
xut hin ca s FIS EDITOR. Ta tin hnh chn s
u vo ra cho b iu khin, chn phng php iu
khin , xy dng lut hp thnh, thit lp cc hm lin
thuc nh hnh sau :
- Chn vng gi tr ca sai lch E trong on t 0
n 10, sau ta tin hnh thay i cc hm lin
thuc n cc gi tr thch hp. y ta s dng hm
hnh tam gic cho cc bin ngn ng l 0, DI, DV, DL
v hm hnh thang cho bin ngn ng DR.
-

H.5 M ha sai lch

Tip theo ta kch vo TE, chn vng gi tr ca tch
phn sai lch TE trong on t 0 n 1500 nh hnh
4.7, sau ta tin hnh thay i cc hm lin thuc
n cc gi tr thch hp. y ta s dng hm hnh
tam gic cho tt c cc bin ngn ng .

H.6 M ha tch phn sai lch
u ra U ca b iu khin ta chn vng gi tr ca
sai lch E trong on t 0 n 20 nh hnh 4.8, sau
ta tin hnh thay i cc hm lin thuc n cc gi tr
thch hp. y ta s dng hm hnh tam gic cho
cc bin ngn ng l 0, DI, DV, DL v hm hnh
thang cho bin ngn ng DR.

H.7 M ha in p iu khin



H.8 M phng iu khin m cho nhit l in tr


H.9 Kt qu m phng iu khin m

Qu trnh iu khin S liu
qu iu chnh ( s ) 20(
0
C)
Thi gian qu (t
q
) 270(s)
Tc iu chnh (t
r
) 186(s)
B.4 Bng s liu t c khi s dng b iu khin m

2.5 ANFIS
C nhiu cch kt khc nhau hp mng nron vi
logic m.
Mng thch nghi da trn c s h suy lun m. S
dng cc lut hc m dng TSK nh sau:
Lut hc th j l Rj c dng:
If x
1
is A
j
1
And x
2
is A
j
2
And And x
n
A
j
n

Then
_
0
1
( )
n
j j
j i i j
i
f p p x m
x
i
l cc bin ngn ng u vo (i=1,2,3,n)
A
j
i
(x
i
) l cc bin ngn ng m ca bin u vo xi
A
j
i
(x
i
) l hm lin thuc ca mi bin ngn ng u
vo
p
j
i
l cc h s ca hm tuyn tnh f
j
(x
1
, x
2
, x
n
).
ANFIS c cu trc nh hnh sau:


619
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

1
1 A
j
1
A
M
1 A
.
.
.
.
.
.
1
Ai
j
Ai
M
Ai
.
.
.
.
.
.
1
An
j
An
M
A
n
.
.
.
.
.
.
1
x
i
x
n
x
1
R
R
j
R
M
N
N
N
.
.
.
.
.
.

1
1
1
( )
A
x
( ) M
n
n A
x
M

M M
f
1 1
f
y
1
x
i
x
n
x . . . . . .
1
x
i
x
n
x . . . . . .
1
x
i
x
n
x . . . . . .
Lp 1 Lp 2 Lp 3 Lp 4 Lp 5 Lp 6

H.10 S cu trc ca ANFIS

Lp 1: L lp u vo, mi nowrron th I c mt tn
hiu vo x
i.
Lp 2: Mi phn t l mt hm lin thuc ( )
j
i
i
A
x m c
cc dng hm. Trong cc thng s ca cc dng
hm lin thuc lp 2 l cc thng s iu chnh.
Lp 3: Mi phn t tng ng thc hin mt lut j:
1
( )
n
j
j i i
i
x m m (4)
Lp 4: Mi phn t N tng ng thc hin tnh ton:
1
j
j
M
j
j
m
m
m
(5)
Lp 5: Mi phn t th j ca lp 5 thc hin tnh ton
gi tr:
_
0
1
( )
n
j j
j i i j
i
f p p x m (6)
Vi
_
j
m l gi tr u ra lp 4 v
0 1
, ,...,
j j j
n
p p p l
cc thng s iu chnh
Lp 6: ch c mt phn t thc hin php tng tnh
gi tr ra:
1
1
1
M
j j
M
j
j j M
j
j
j
f
y f
m
m
m
(7)
Nu cho trc hm u ra mong mun l: ( )
d
f x y
S dng tiu chun trung bnh bnh phng ca sai
lch gia hm u ra mong mun vi hm u ra:
2
1
( )
2
d
E y y (8)
t c E cc tiu hay tn hiu u ra y ca
ANFIS bm theo c tn hiu u ra mong mun y
d

cn iu chnh b thng s ca hm lin thuc lp 2
v b thng s lp 5
Nh vy lut cp nht gi tr cc thng s iu chnh
cn ph thuc vo dng hm lin thuc m ANFIS s
dng.

2.6 Lut hc lan truyn ngc BP
u tin l thit lp b d liu mu vo - ra
,
k k
x d vi k = 1, 2, ..., p.
- Bc 1: Thit lp trng thi ban u cho mng.
Chn 0 h v Ecp (Ecp l sai lch cho php), cc
trng s ban u vi gi tr nh v ngu nhin, thit
lp E = 0 v k = 1.
- Bc 2: Vng luyn tp.
a d liu cc mu u vo th k vo lp u vo (s
= 1):
1 ( ) s k
i i i
y y x = =
, vi mi i. (9)
- Bc 3: Qu trnh truyn thng.
Qu trnh truyn thng ca tn hiu trong mng theo
cng thc:
1
ij
( ) ( w )
s s s s
i i i
j
y a net a y

= =

(10)
Cho mi gi tr i v s cho ti khi cc u ra ca lp ra
c xc nh.
- Bc 4: Tnh ton sai lch u ra.
Xc nh gi tr sai lch v tn hiu sai lch cho lp
u ra:
( )
1
1
( )
2
n
k s
m i i c
i
E d y E
=
= +

(11)
Vi E
m
, E
c
l sai lch mi v c ( sai lch chu k
mi v chu k c)
( ) ,
( ) ( )
s k s s
i i i i
d y a v o =
(12)
- Bc 5: Lan truyn ngc ca sai lch.
Qu trnh lan truyn ngc ca sai lch c cp nht
cc trng s tnh ton theo tn hiu sai lch cho cc
lp pha trc:
1
w
s s s
ij i j
y q o

=

w ( 1) w ( ) w
s s s
ij ij ij
t t + = +

1 , 1
( ) w
s s s s
i i ji j
j
a v o o

=

(13)
- Bc 6: Cho mi chu k hc.
Kim tra vng luyn tp:
- Nu k<p, th k = k+1 v tin hnh bc 1.
- Nu khng thc hin li bc 6.
- Bc 7: Kim tra sai lch tng.
- Nu E
m
<E
cp
th hon thnh qu trnh hc,
tin hnh ghi li kt qu cc vect trng s.
- Nu khng tha mn quay tr li thc hin
bc 1.

2.7 iu khin nhit trong l in tr s dng
thut ton m-nron
u tin ta o ly thng s u vo u ra trong qu
trnh iu khin nhit l in tr , t cc thng s
o c ta xy dng hai tp d liu l hc v kim
tra. Sau ta tin hnh qu trnh luyn d liu. G
vo ca s lnh anfisedit ri thi hnh lnh, trn
Matlab xut hin ca s anfis. Tin hnh ti d liu
hc v d liu kim tra ln ca s ANFIS, sau ta
chn s lut hp thnh, chn phng php luyn l s
dng thut ton lan truyn ngc, chn khong sai s
620
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

v s ln lan truyn ngc ri thc hin qu trnh hc
d liu.


H.11 Ti d liu hun luyn ln ANFIS

chng ta c th c c s liu v li sau 10000 ln
thc hin lan truyn ngc l 0.37903. Ta tin hnh
lu li file iu khin.


H.12 Hun luyn mng

H.13 Cu trc mng iu khin m-nron


H.14 Kt qu m phng iu khin m-nron

Qu trnh iu khin S liu
qu iu chnh 0(
0
C)
Thi gian qu (t
q
) 450(s)
Tc iu chnh (t
r
) 197(s)
B.5 Bng s liu khi s dng b iu khin m-nron




H.15 M phng iu khin m cho nhit l in tr


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

VCCA-2011



H.16 Kt qu m phng b iu khin PID, m, m - nron cho l in tr


B iu
khin
qu
iu chnh
(
0
C)
Tc
iu chnh
t
r
(s)
Thi gian
qu
t
q
(s)
PID 500 25 300
M 20 186 270
M-nron 0 197 450
B.6 Tng hp s liu t c t cc b iu khin

- Cn c bng s liu trn ta nhn thy mi b iu
khin u c cc u nhc im ring. Vi b iu
khin PID th thi gian t gi tr iu khin u tin
l sm nht, tuy nhin qu iu chnh cao lm nh
hng n h thng cng nh tui th ca thit b. B
iu khin m t gi tr n nh sm nht v tuy c
qu iu chnh nhng khng ng k v nm trong
phm vi cho php l 2%. Ta nhn thy vi b iu
khin m-nron th qu iu chnh bng khng l
rt tt, tuy nhin thi gian h thng t gi tr n
nh l tr nht.

Kt lun
L in tr ni ring cng nh i tng nhit ni
chung thng khng cho php c qu iu chnh.
y ch c b iu khin m-nron m bo tt
c iu , v vy m ty thuc vo yu cu cng
ngh trong qu trnh s dng l, ta c th chn tng
b iu khin thch hp.
Vi nhng kt qu thu c t m phng, c th nhn
nhn rng c hai b iu khin m v m-nron u
rt thch hp dng iu khin nhit trong l
in tr, c bit l b iu khin m-nron trit
tiu hon ton qu iu chnh rt thch hp cho i
tng nhit , c bit l ng dng trong cng
nghip v nghin cu cn chun xc cao.
T nhng kt qu thu c qua vic thc hin ti,
c th nhn nhn rng vic s dng cc l thuyt iu
khin phi c s dng mt cch linh hot v ty
thuc vo i tng cn iu khin. Vic s dng lai
ghp c cc k thut iu khin gia c in vi
hin i v gia cc k thut iu khin hin i vi
nhau m ra hng i rt a dng trong k thut
iu khin vo ng dng thc t.

Ti liu tham kho
[1] TS. Nguyn B.: Gio trnh Trang b in II.
i hc Bch khoa Nng, 2007
[2] Bi Cng Cng, Nguyn Don Phc.: H m
mng N ron & ng dng. NXB Khoa hoc k
thut, 2006
[3] Phm Hu c Dc.: Mng n ron v ng dng
trong iu khin t ng. NXB Khoa hc v k
thut, H Ni, 2009
[4] TS. Nguyn Nh Hin.; TS. Li Khc Li.: H
M & N ron trong k thut iu khin. NXB
Khoa hc t nhin v cng ngh, H Ni, 2007
[5] Nguyn Don Phc.; Phan Xun Minh.: L
thuyt iu khin m. NXB Khoa hoc k thut,
H Ni, 2006
[6] Trn Vn Thnh.: Tnh ton thit k thit b in
t cng sut. NXB Gio dc, 2008
[7] Chin Teng Lin.; Chang Mao Yeh.; Jen Feng
Chung.; Sheng Fu Liang.; Her Chang Pu.:
Support-Vector-Baseb Fuzzy Neural Networks.
International Journal of Computational
Intelligence Research, Vol.1, No.2, pp.138-150,
2005
[8] Kangling Fang.; Zhongjie Shen.: A Neural-
Fuzzy Control In Resistance Furnace. IEEE
International Conference on Intelligent
Processing Systems, pp.200-204, 1997
[9] Lamei Xu; Wei He.: Application of Fuzzy
Neural Network to Fire Alarm System of High-
rise Building. Journal of Communication and
Computer, USA, Vol.2, No.9, pp.18-21, 2005


iu khin
PID
iu khin m
iu khin
m-nron
622
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

T.S Nguyn Quc nh, sinh
nm 1973 ti H Ni. Tt nghip K s in ti
trng H Bch khoa Nng nm 1996. Tt nghip
Thc s v Tin s ti Vin Cng ngh Chu (AIT),
Bangkok, Thailand ln lt vo cc nm 2001 v
2007. Hin l Gio vin Khoa in trng H Bch
khoa Nng. Lnh vc nghin cu: M hnh ha v
iu khin qu trnh phi tuyn MIMO s dng h
nron m.

ThS. Hunh Gia Sn, sinh
nm 1981 ti Qung Nam. Tt
nghip i hc chuyn ngnh
S phm K thut in
in t, ti i hc Bch
Khoa, i hc Nng. Tt
nghip Cao hc chuyn ngnh
T ng ha, ti i hc Nng. Hin l Gio vin
ti Khoa in t Vin thng, i hc Duy Tn, TP
Nng. Lnh vc nghin cu: ng dng cc
phng php iu khin thng minh iu khin t
ng cc qu trnh sn xut


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