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

VCCA-2011
H m-nron nhn dng v iu khin
iu tc tuc bin thu lc
Fuzzy-neural System For Identification And Control
The Hydro Turbin Governors
Nguyn Tng Cng, Nguyn Ch Sng, Phm Vn a
e-Mail: dapv.ima@gmail.com


Tm tt
Bi bo ny trnh by vic p dng h m - nron
nhn dng v iu khin h chuyn ng phi tuyn
cng nh cho h iu tc tuc bin thu lc. Kt qu
m phng cho kh nng ng dng tt, n nh v thi
gian qu nh.
Abstract: This paper describes the fuzzy-neural
system applying to identification and controls the
non-linear motion system as well as the hydro turbine
governors. Simulation results show the feasibility of
using, stability and the improved of overshoot time.

K hiu
K hiu n v ngha
f hm phi tuyn
( )
j
i
i
A
x

hm lin thuc
x
Vc t trng thi

Ch vit tt
SISO Single Input Single Output
MISO Multi Input Single Output
MIMO Multi Input Multi Output
NFCs Neuro Fuzzy Controllers
T-S Takagi-Sugeno

1. Phn m u
Kt hp mng nron vo b iu khin m, to
thnh mt b iu khin mi gi l b iu khin m
- nron (NFCs) hay cn gi l h m-nron. S kt
hp ny chnh l s tch hp cht ch nhng kin thc
chuyn gia trong h m v lp li n trong sut qu
trnh hc ca mng nron. H m-nron s s dng
qu trnh hc ca mng chnh li cc tham s hm
lin thuc ca tp m (nh tm, rng) vi mong
mun u ra ca h tha mn yu cu cho trc [2].
H chuyn ng phi tuyn cn c th c iu
khin bng h m thch nghi [1], t c sai lch
tim cm v 0 cho mt lp i tng.
Kt qu ny cng p dng hiu qu cho nhn dng
v iu khin h iu tc tuc bin thu lc, ch ra kh
nng ng dng ca phng php, s n nh lm vic
cng nh thi gian p ng tt.

2. H NFCs vi m hnh Takagi-Sugeno
(T-S) p dng cho nhn dng h
chuyn ng.
Vic p dng m hnh m T-S c nghin cu
trong nhiu cng trnh khc nhau, thng s dng
mng nron 5 lp [2],[4]. Xt mt cu trc h NFCs
gm 5 lp, 2 lp ngoi vo v ra thc hin nhim v
nhn tn hiu vo v tnh gi tr ra ca h. 03 lp trong
thc hin chc nng m ho, thc hin cc lut m v
gii m. nhn dng h thng, ta dng h m-nron
vi lut m T-S [2],[4],[9]. im khc nhau c bn
gia hai m hnh m T-S v m hnh m Mamdani l
mnh kt lun ca cc lut hp thnh. Mnh kt
lun trong m hnh m T-S lun l nhng hm gi tr
thc, n thay th cho cc tp m.
Gi s lut m th j trong m hnh m T-S c dng:
Nu
1
x l
1
j
A v
2
x l
2
j
A v v
n
x l
j
n
A
Th
j 0 1 1 2 2
y f ... = = + + + +
j j j j
n n
a a x a x a x (1)
Vi: x
i
l bin u vo ; y l bin u ra ;
i
j
A l bin
ngn ng ca mnh iu kin vi hm lin thuc
( )
j
i
i
A
x ;
j
i
a l h s ; j=1m ; i=1n.
Xt mt h chuyn ng SISO c phng trnh
ng lc hc phi tuyn tng qut c m t bi h
phng trnh trng thi (2) nh sau:



1
( ) ( ) = +
=

dx
F x G x u
dt
y x
(2)
Trong :
1 2
( , ,..., ) =
n
x x x x l mt vector cc
bin trng thi ca h; F(x) v G(x) l hai hm phi
tuyn ph thuc vo cc bin trng thi x ca h; u
l tn hiu iu khin tc ng vo h; y l tn hiu ra
ca h. Nu h nu l h thng n nh, tc khi n
bt u mt v tr no , n s tip tc lm vic
ln cn v tr ny, gi tr u ra khng vt qu gii
hn cho php trong sut thi gian sau v qu o
chuyn ng trn, lin tc, th chng ta c th dng
cc cng c ton hc a h trn v dng chun (3)
.

1 2
2 3
1
...........
( ) ( )
=

= +

n
x x
x x
x F x G x u
y x
(3)
C th ho, ta xt h c 04 bin trng thi v c
m t bi phng trnh (4) [3],[4],[9], trong
753
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
1 2 3 4
( , , , ) = x x x x x l cc bin trng thi ca h; u l
u vo v y l u ra ca h.
1 2 3 4
( ) ( , , , ) = F x F x x x x ,
1 2 3 4
( ) ( , , , ) = G x G x x x x l hai
hm phi tuyn ph thuc vo cc bin trng thi ca
h.

1 2
2 3
3 4
4
1
( ) ( )
=

= +

x x
x x
x x
x F x G x u
y x
(4)
H m-nron dng nhn dng hai hm F(x) v
G(x) c cu trc ging nhau, cc trng s trong mng
c cp nht l khc nhau v l h MISO c 4 u
vo v mt u ra. Chn mi u vo c hai hm lin
thuc, th s c 2
n
lut hp thnh. Vi n =4 l s bin
u vo ta c 16 lut hp thnh t R
1
n R
16
theo
lut m T-S (1) nh cc phng trnh t (5) n (20)
sau:

1
: R Nu
1
x l
1
1
A v
2
x l
1
2
A v
3
x l
1
3
A v
4
x l
1
4
A
Th :
1 1 1 1 1
1 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (5)
2
: R Nu
1
x l
1
1
A v
2
x l
1
2
A v
3
x l
1
3
A v
4
x l
2
4
A
Th :
2 2 2 2 2
2 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (6)

3
: R Nu
1
x l
1
1
A v
2
x l
1
2
A v
3
x l
2
3
A v
4
x l
1
4
A
Th :
3 3 3 3 3
3 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (7)

4
: R Nu
1
x l
1
1
A v
2
x l
1
2
A v
3
x l
2
3
A v
4
x l
2
4
A
Th :
4 4 4 4 4
4 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (8)
5
: R Nu
1
x l
1
1
A v
2
x l
2
2
A v
3
x l
1
3
A v
4
x l
1
4
A
Th :
5 5 5 5 5
5 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (9)
6
: R Nu
1
x l
1
1
A v
2
x l
2
2
A v
3
x l
1
3
A v
4
x l
2
4
A
Th :
6 6 6 6 6
6 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (10)
7
: R Nu
1
x l
1
1
A v
2
x l
2
2
A v
3
x l
2
3
A v
4
x l
1
4
A
Th :
7 7 7 7 7
7 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (11)

8
: R Nu
1
x l
1
1
A v
2
x l
2
2
A v
3
x l
2
3
A v
4
x l
2
4
A
Th :
8 8 8 8 8
8 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (12)
9
: R Nu
1
x l
2
1
A v
2
x l
1
2
A v
3
x l
1
3
A v
4
x l
1
4
A
Th :
9 9 9 9 9
9 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (13)

10
: R Nu
1
x l
2
1
A v
2
x l
1
2
A v
3
x l
1
3
A v
4
x l
2
4
A
Th :
10 10 10 10 10
10 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (14)

11
: R Nu
1
x l
2
1
A v
2
x l
1
2
A v
3
x l
2
3
A v
4
x l
1
4
A
Th :
11 11 11 11 11
11 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (15)

12
: R Nu
1
x l
2
1
A v
2
x l
1
2
A v
3
x l
2
3
A v
4
x l
2
4
A
Th :
12 12 12 12 12
12 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (16)

13
: R Nu
1
x l
2
1
A v
2
x l
2
2
A v
3
x l
1
3
A v
4
x l
1
4
A
Th :
13 13 13 13 13
13 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (17)

14
: R Nu
1
x l
2
1
A v
2
x l
2
2
A v
3
x l
1
3
A v
4
x l
2
4
A
754
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Th :
14 14 14 14 14
14 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (18)

15
: R Nu
1
x l
2
1
A v
2
x l
2
2
A v
3
x l
2
3
A v
4
x l
1
4
A
Th :
15 15 15 15 15
15 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (19)

16
: R Nu
1
x l
2
1
A v
2
x l
2
2
A v
3
x l
2
3
A v
4
x l
2
4
A
Th :
16 16 16 16 16
16 0 1 1 2 2 3 3 4 4
y f = = + + + + a a x a x a x a x (20)


























Trong
1 2 3 4
; x ; ; x x x l cc bin u vo; y l
bin u ra ; A
i
j
l bin ngn ng ca mnh iu
kin vi hm lin thuc ) x (
i
A
j
i
;
j
i
a l h s. S
cu trc mng NFCs thc hin cc lut m t (5) n
(20) c cu trc nh hnh H.1.
+ Lp 1: lm nhim v nhn tn hiu vo.
+ Lp 2: tt c cc nt trong lp ny thc hin chc
nng m ho, to hm lin thuc. u ra ca chng
ch r tho mn ca bin u vo x
i
vi mi bin
A
i
j
. Hm lin thuc chn l hm Gaus c dng:

2
( )
o

| |

|
|
\ .
=
j
i i
j
i
j
i
x m
i
A
x e (21)
Vi
j j
i i
m ; ln lt l tm v rng ca hm lin
thuc.
+ Lp 3: thc hin php ton trong mnh iu
kin, theo lut tch i s, tm cc gi tr hm lin
thuc tch tng ng vi cc trng hp, t 1 n n.
Trng hp c th, n= 4 ta c cc phng trnh t 1
n 16 nh sau.
1 1 1 1
1 2 3 4
1 1 1 2
1 2 3 4
1 1 2 1
1 2 3 4
1 1 2 2
1 2 3 4
1 1 2 3 4
2 1 2 3 4
3 1 2 3 4
4 1 2 3 4
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )




=
=
=
=
A A A A
A A A A
A A A A
A A A A
x x x x
x x x x
x x x x
x x x x

1 2 1 1
1 2 3 4
1 2 1 2
1 2 3 4
1 2 2 1
1 2 3 4
1 2 2 2
1 2 3 4
5 1 2 3 4
6 1 2 3 4
7 1 2 3 4
8 1 2 3 4
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )




=
=
=
=
A A A A
A A A A
A A A A
A A A A
x x x x
x x x x
x x x x
x x x x

1 1 1 1
1 2 3 4
2 1 1 2
1 2 3 4
2 1 2 1
1 2 3 4
2 1 2 2
1 2 3 4
9 1 2 3 4
10 1 2 3 4
11 1 2 3 4
12 1 2 3 4
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )




=
=
=
=
A A A A
A A A A
A A A A
A A A A
x x x x
x x x x
x x x x
x x x x

H.1 Cu trc h NFCs theo lut m T-S, vi n=4, lut hp thnh 2
x
1
x
2
x
3
x
4
y
*
1
1
A

2
1
A

2
2
A

2
3
A

2
4
A

1
2
A

1
3
A

1
4
A


755
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
2 2 1 1
1 2 3 4
2 2 1 2
1 2 3 4
2 2 2 1
1 2 3 4
2 2 2 2
1 2 3 4
13 1 2 3 4
14 1 2 3 4
15 1 2 3 4
16 1 2 3 4
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )
( ). ( ). ( ). ( )




=
=
=
=
A A A A
A A A A
A A A A
A A A A
x x x x
x x x x
x x x x
x x x x


+ Lp 4: thc hin php ton theo mnh kt lun
1 2
1 2
; ;...;



= = =
n
n
Sum Sum Sum
;
Vi :
1

=
=

n
Sum i
i
(22)
+ Lp 5: tnh gi tr u ra ca h theo (23).
Nh vy qu trnh cp nht trng s ca mng, c
bit l lp 2, th cc hm lin thuc ca tp m lun
c iu chnh m bo cc lut hp thnh c
thc hin ti lp 3 tho mn m hnh m T-S v sai
lch ca h tim cn v 0.

*
1 1 2 2
... = + + +
n n
y f f f (23)


3. H NFCs vi phng php tuyn tnh
ho chnh xc cho iu khin h chuyn
ng phi tuyn
Phng php tuyn tnh ho chnh xc c p
dng iu khin h phi tuyn t c chnh
xc cao trong vic iu khin u ra bm theo qu
o t mong mun.
Tr li h chuyn ng c m t ton dng (3),
hai hm ( ); ( ) F x G x c nhn dng da trn h
m-nron s dng m hnh m T-S nh phn 2 (hnh
1). iu kin h thng iu khin c l tt c cc
bin trng thi trong h b chn v
= G(x) 0
[2]. Bin
i (3) ta c:
( )
( ) ( ) = +
n
y F x G x u (24)
( )
( )
1
( )
( )
=
n
u y F x
G x
(25)
Gi y l c lng u ra, ta gi thit y y = v
( ) ( )
=
n n
y y , vi sai s c xc nh bi m hnh
m T-S, b chn v tim cn v 0 [3]. Khi :
( )
( )
1
( )
( )
=
n
u y F x
G x
(26)
Gi lng ra mong mun l y
m
. Khi sai lch
m m
e y y = . e
m
0 sau mt khong thi gian
hu hn th e
m
l nghim ca phng trnh vi phn
tuyn tnh [2]:
( ) ( 1)
1 1
... 0 o o o

+ + + + =
n n
m m n m n m
e e e e (27)
Vi cc h s
1 2
, ,...,
n
o o o c chn sao cho
tt c cc nghim ca phng trnh c trng
1
1 1
... 0 o o o

+ + + + =
n n
n n
s s s c phn thc nm
bn tri trc o. Nh vy vic chn cc h s
, 1
i
i n o =
c th thc hin theo phng php gn
im cc ca Luenberger. Thay biu thc sai lch vo
(27) ta c (28) v (29).
Thay (29) vo (26) ta tm c lut iu khin
(30). Trng hp xt n=4, ta c cu trc nhn dng
v iu khin h theo phng php tuyn tnh ho
chnh xc thch nghi nh hnh H.2.





















H.2 M hnh cu trc h nhn dng v iu khin vi n=4
u

1
s
H m-nron
y
1
s
1
s
H m-nron
1
s
H chuyn ng
thc t
x
4
x
1
x
2
x
3
(-) G(x)
F(x)
B iu
khin vi
lut (30)

y
m
y
H chuyn ng m hnh
(3)
y
y y
756
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011

( ) ( ) ( 1) ( 1)
1 1
( ) ( ) ... ( ) ( ) 0 o o o

+ + + + =
n n n n
m m n m n m
y y y y y y y y (28)
( ) ( ) ( 1) ( 1)
1 1
( ) ... ( ) ( ) o o o

= + + + +
n n n n
m m n m n m
y y y y y y y y (29)
( )
( ) ( 1) ( 1)
1 1
1
( ) ... ( ) ( ) ( )
( )
o o o

= + + + +
n n n
m m n m n m
u y y y y y y y F x
G x
(30)


4. M phng h NFCs cho nhn dng v
iu khin iu tc tuc bin thu lc
H thng iu khin iu tc (governor) trong
nh my thu in c chc nng rt quan trng i
vi s hot ng n nh v cht lng v hiu
sut ca ton h thng. Trong ti liu [5], h
governor c m t nh ti hnh H.3, trong
hm truyn ca cc h thng chuyn ng thc t
c nghin cu v a ra v c p dng
trong nhiu cng trnh nghin cu nh [2], [7],
[9], [11], ta c th c th ho cc khi chc nng
trong hnh H.3 nh hnh H.4 thun li cho vic
m phng p dng h NFCs cho nhn dng v
iu khin iu tc tuc bin thu lc.



























H.3 Khi chc nng h thng nh my thu in
Tn s
t
Governor
Van
Servomotor
Thu lc,
C kh
Tuc bin
My pht
Ti
Li
Tn s
Li
H thng chuyn ng thc t
(plant)
H.5 Sai lch tn s ca h khi ti
ngu nhin 95%, 80%, 120% Pm

-
w
G(p)

g
1
1 T p
1 Tw.p
1 0.5Tw.p

1
1 Tm.p

Tn s
t
Governor
Servomotor Cnh hng Tuc bin
My pht
H.4 S khi h thng iu khin t my thu in c lp
L
1
Kd T .p

Li

-
L
P
H.6 Sai lch tn s ca h khi ti
ngu nhin n nh ti 20%, 95% Pm
757
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Kt qu m phng bng Matlab Simulink khi
h thng lm vic khng ti ngu nhin th tn s
ca h bng tn s t. Khi cho ti ngu nhin tc
ng vi cc gi tr khc nhau l 95%, 80% v
120% ti ngu nhin nh mc cho php, trong
mi khong thi gian 20 giy, th sai lch tn s
ca h nh ng xanh l cy ti hnh H.5. M
phng trong hai trng hp ti ngu nhin n
nh bng 20% v 95% ti ngu nhin nh mc,
th biu sai lch tn s ca h ch ra nh hnh
H.6.
Cc thng s ca h ng hc c ly theo
mt h thc t nh sau:
Tm: 7 (s), hng s thi gian qun tnh c kh,
Tw: 2,17 (s), hng s qun tnh ct nc,
Tg: 0,2 (s), hng s thi gian ca h van v ng
c sc v,
T
L
: 7 (s), hng s thi gian ca li,
Kd: 2, h s ti ca li,
P: ton t Laplace,
P
L
: Ti ngu nhin (%Pm),
w: sai lch tn s li (%).


5. Kt lun
H NFCs vi m hnh m T-S c p dng
nhn dng rt thnh cng cho nhiu h ng hc phi
tuyn. Trong bi bo ny ch ra s p dng thnh
cng cho nhn dng h ng hc phi tuyn cho b
iu tc tuc bin thu lc. Vi lut iu khin p
dng phng php tuyn tnh ho thch nghi, th h
NFCs s dng nhn dng v iu khin cho mt h
iu tc tuc bin phi tuyn c th, c ti ngu nhin
tc ng m bo tn s sai lch ca h nh
(0,5%), thi gian qu ngn (30s) i vi h ng
hc c qun tnh ln nh tuc bin thu lc trong cc
nh my thu in. Trong m phng cng ch ra s
sai lch n nh trong qu trnh lm vic ca h.

Ti liu tham kho
[1] Phm Vn a, Tng hp b iu khin thch
nghi cho i tng phi tuyn trn c s lgc
m, Tp ch Khoa hc v K thut - S 130(10-
2009) - Hc vin KTQS, 2009, tr.54-62.
[2] Nguyn Tng Cng, Nguyn Ngc Ho, Phm
Vn a, p dng h m - Nron nhn dng
v iu khin h chuyn ng phi tuyn bng
phng php tuyn tnh ho chnh xc, Tp ch
Khoa hc v K thut - S 134(6-2010), Hc
vin KTQS, 2010, tr.5-14.
[3] Nguyn Don Phc, L thuyt iu khin nng
cao, Nh xut bn Khoa hc v k thut, H
Ni, 2005.
[4] Nguyn Trng Thun, Trung Hi, M hnh
thc nghim ng dng h m - nron nhn dng
trc tuyn (online) v iu khin h phi tuyn.
Tp ch Khoa hc & cng ngh cc trng i
hc K thut, S 63(2008), H Ni, Tr.6-10.
[5] George A.Rovithakis, Manolis A.Christodoulou,
Adaptive Control of Unknown Plants Using
Dynamical Neural Networks, IEEE Transactions
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