luan van dieu khien mo.doc
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Luan van tot nghiep
144Luan van tot nghiep
BO GIAO DUC VA AO TAO
AI HOC QUOC GIA TP. HO CH MINHTRNG AI HOC S PHAM KY THUATKHOA IEN IEN T
BO MON IEN T
LUAN VAN TOT NGHIEP
E TAI:NGHIEN CU IEU KHIEN M
MO PHONG HE THONG IEU KHIEN M BANG MATLAB
SVTH:NGUYEN KIM HUY
AU TRONG HIEN
Lp:95K
GVHD:NGUYEN VIET HUNG
TP. HCM
3 2000
BO GIAO DUC VA AO TAO
AI HOC QUOC GIA TP. HO CH MINHTRNG AI HOC S PHAM KY THUATKHOA IEN IEN T
BO MON IEN T
LUAN VAN TOT NGHIEP
E TAI:NGHIEN CU IEU KHIEN M
MO PHONG HE THONG IEU KHIEN M BANG MATLAB
SVTH:NGUYEN KIM HUY
AU TRONG HIEN
Lp:95K
GVHD:NGUYEN VIET HUNG
TP. HCM
3 2000
BO GIAO DUC & AO TAOCONG HOA XA HOI CHU NGHA VIET NAM
AI HOC QUOC GIA TP.HCMOC LAP - T DO - HANH PHUC
TRNG AI HOC SPKT TP.HCM
KHOA IEN IEN T
BO MON IEN T
NHIEM VU LUAN VAN TOT NGHIEP
Ho va ten sinh vien :NGUYEN KIM HUYMSSV: 95101069
AU TRONG HIENMSSV:95101050
Lp: 95K
Nghanh: KT IEN - IEN T
1. Ten e tai:
Nghien cu ieu khien mMo phong he thong ieu khien m bang MatLab
2. Cac so lieu ban au:
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3. Noi dung cac phan thuyet minh tnh toan:
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4. Cac ban ve:
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5. Giao vien hng dan: NGUYEN VIET HUNG6. Ngay giao nhiem vu:
7. Ngay hoan thanh nhiem vu: 28/2/2000
Giao vien hng dan
Thong qua bo mon
Ngay thang nam
Chu nhiem bo mon
NGUYEN VIET HUNG
NHAN XET CUA GIAO VIEN HNG DAN
----- oOo -----
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NHAN XET CUA GIAO VIEN PHAN BIEN
----- oOo -----
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NHAN XET CUA HOI ONG CHAM LUAN VAN TOT NGHIEP
----- oOo -----
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PHAN A
GII THIEULi m au
F
uzzy logic a trai qua mot thi gian dai t khi lan au c quan tam trong lnh vc ky thuat khi c tien s Lotfi Zadeh nh hng vao nam 1965. T o, e tai a la s tap trung cua nhieu nghien cu cua cac nha toan hoc, khoa hoc va cac ky s khap ni tren the gii. Nhng co le la do y ngha (fuzzy-m) cho nen fuzzy logic a khong c chu y nhieu tai at nc a khai sinh ra no cho mai en thap ky cuoi (90). Hien tai s chu y en fuzzy logic c the hien nhng san pham gia dung gan ay co s dung ky thuat fuzzy logic. Trong nhng nam gan ay, Nhat Ban a co hn 1000 bang sang che ve ky thuat fuzzy logic, va ho a thu c hang t USD trong viec ban cac san pham co s dung ky thuat fuzzy logic khap ni tren the gii.
S ket hp gia fuzzy logic vi mang than kinh va giai thuat di truyen lam cho viec tao nen he thong t ong nhan dang la kha thi. Khi c tch hp vi kha nang hoc hoi cua mang than kinh nhan tao va giai thuat di truyen, nang lc suy luan cua mot he thong fuzzy am nhan vai tro ieu khien cho cac san pham thng mai va cac qua trnh cho cac he thong nhan dang (he thong co the hoc hoi va suy luan).
Trong s phat trien cua khoa hoc va ky thuat, ieu khien t ong ong mot vai tro quan trong. Lnh vc nay co mat khap moi ni, no co trong cac qui trnh cong nghe san xuat hien ai va ngay ca trong i song hang ngay. ieu khien m ra i vi c s ly thuyet la ly thuyet tap m (fuzzy set) va logic m (fuzzy logic). u iem c ban cua ky thuat ieu khien m la khong can biet trc ac tnh cua oi tng mot cach chnh xac, khac vi ky thuat ieu khien kinh ien la hoan toan da vao thong tin chnh xac tuyet oi ma trong nhieu ng dung la khong can thiet hoac khong the co c.
Vi nhng ham muon tm hieu mot nganh ky thuat ieu khien mi me, chung em thc hien viec nghien cu ly thuyet m va mo phong mot he thong ieu khien m tren may tnh bang phan mem MatLab. V thi gian b han che trong vong 10 tuan le, va cung do gii han e tai nen chac chan khong tranh khoi nhng han che va thieu sot. Chung em mong nhan c s ch dan gop y quy bau cua cac Thay Co e e tai c hoan thien hn.
TP. HCM, thang 2 nam 2000
Sinh vien thc hien
NGUYEN KIM HUY
AU TRONG HIEN
Li cam ta
Chung em xin chan thanh cam n thay NGUYEN VIET HUNG giao vien hng dan ngi a tan tnh ch day cho chung em trong suot thi gian thc hien e tai nay.
Chung em xin chan thanh cam n quy THAY CO nhng ngi a tng giang day cung cap nhng kien thc quy gia cho chung em.
Chung em cung bay to long biet n en thay TRAN SUM ngi bay gi a i xa a bc au hng dan chung em.
Nhom sinh vien
NGUYEN KIM HUY
AU TRONG HIEN
PHAN B
NOI DUNG
Chng I
DAN NHAP
I. at van e:
Vao nhng nam au cua thap ky 90, mot nganh ky thuat ieu khien mi a phat trien rat manh me va a em lai nhieu thanh tu bat ng trong lnh vc ieu khien, o la ieu khien m. u iem c ban cua ieu khien m so vi cac phng phap ieu khien kinh ien la co the tong hp c bo ieu khien ma khong can biet trc ac tnh cua oi tng mot cach chnh xac.
Nganh ky thuat mi me nay a c ng dung vao thc tien va a at c nhieu thanh cong. Viet Nam, nganh ky thuat nay ch mi bc au nghien cu. Chnh v vay chung em thc hien e tai Nghien cu ieu khien m. Mo phong he thong ieu khien m bang MatLab cung nham muc ch tiep can c vi nganh ky thuat mi nay.
II. Gii han van e:
Do thi gian nghien cu thc hien e tai ch gii han trong vong 10 tuan, oi tng nghien cu kha mi me oi vi chung em. V vay e tai nay ch thc hien trong pham vi nh sau:
- Khao sat ly thuyet logic m.
- Xay dng mo hnh vat ly va mo hnh toan hoc cua mot he thong ieu khien cu the: He thong ieu khien t ong nhiet o dung VXL 8 bit ng dung giai thuat logic m.
- Mo phong mo hnh trong MatLab.
III. Muc tieu nghien cu:
Trnh bay cac kien thc c ban ve logic m, ng dung vao trong ky thuat ieu khien. Xay dng mo hnh ieu khien m va mo phong he thong tren MatLab nham giup sinh vien co tai lieu e tham khao, de dang tiep can nganh ky thuat mi nay. T o phat huy tnh sang tao cua sinh vien ng dung ieu khien m vao thc tien.
IV. Nhiem vu thc hien:
e tai c thc hien bi nhiem vu c giao vi bo cuc nh sau:
A: Phan gii thieu
+ Ta e tai
+ Nhiem vu luan van tot nghiep
+ Li m au
+ Nhan xet cua giao vien hng dan
+ Nhan xet cua giao vien phan bien
+ Nhan xet cua Hoi ong cham luan van tot nghiep
+ Cam ta
+ Muc luc
B: Phan noi dung
Chng I: Dan nhap
Chng II: Ly thuyet ieu khien m
Chng III: Mo phong he thong ieu khien m bang MatLab
Chng IV: Ket luan
C: Phan phu luc
V. The thc nghien cu:
Thu nhap nhng nghien cu ve logic m, tham khao cac tai lieu ve ieu khien m. T o rut ra nhng u nhc iem e van dung, phat huy, bo sung phuc vu cho e tai cua mnh.
Chng II
LY THUYET IEU KHIEN M
I. Gii thieu ve logic m:
1. Khai niem ve tap m:
a. nh ngha:
Tap m F xac nh tren tap kinh ien M la mot tap ma moi phan t cua no la mot cap cac gia tr (x, (F(x)) trong o x ( M va (F la anh xa. (F: M ( [0, 1]
Anh xa (F c goi la ham lien thuoc (hoac ham phu thuoc) cua tap m F. Tap kinh ien M c goi la c s cua tap m F.
S dung cac ham lien thuoc e tnh o phu thuoc cua mot phan t x nao o co hai cach: tnh trc tiep (neu (F(x) dang cong thc tng minh) hoac tra bang (neu (F(x) dang bang).
Cac ham lien thuoc (F(x) co dang trn c goi la ham lien thuoc kieu S. oi vi ham lien thuoc kieu S, do cac cong thc bieu dien (F(x) co o phc tap ln nen thi gian tnh o phu thuoc cho mot phan t lau. Trong ky thuat ieu khien m thong thng, cac ham lien thuoc kieu S thng c thay gan ung bang mot ham tuyen tnh tng oan.
Mot ham lien thuoc co dang tuyen tnh tng oan c goi la ham lien thuoc co mc chuyen oi tuyen tnh.
Ham lien thuoc (F(x) nh tren vi m1 = m2 va m3 = m4 chnh la ham phu thuoc cua mot tap kinh ien.
b. o cao, mien xac nh va mien tin cay cua tap m:o cao cua mot tap m F (tren c s M) la gia tr:
Mot tap m vi t nhat mot phan t co o phu thuoc bang 1 c goi la tap m chnh tac tc la H = 1, ngc lai mot tap m F vi H < 1 c goi la tap m khong chnh tac.
Mien xac nh cua tap m F (tren c s M), c ky hieu bi S la tap con cua M thoa man:
S = { x ( M | (F(x) > 0}Mien tin cay cua tap m F (tren c s M), c ky hieu bi T la tap con cua M thoa man:
T = { x ( M | (F(x) = 1}
2. Cac phep toan tren tap m:
a. Phep hp:
Hp cua hai tap m A va B co cung c s M la mot tap m cung xac nh tren c s M vi ham lien thuoc:
(A(B(x) = MAX{(A(x), (B(x)},
Co nhieu cong thc khac nhau c dung e tnh ham lien thuoc (A(B(x) cua hp hai tap m nh:
1. ,
2. (A(B(x) = min{1, (A(x) + ( B(x)}(Phep hp Lukasiewicz),
3.
(Tong Einstein),
4. (A(B(x) = (A(x) + (B(x) - (A(x).(B(x)(Tong trc tiep),...
a)
b)
c)
Co hai tap m A (c s M) va B (c s N). Do hai c s M va N oc lap vi nhau nen ham lien thuoc (A(x), x ( M cua tap m A se khong phu thuoc vao N va ngc lai (B(y), y ( N cua tap m B cung se khong phu thuoc vao M. ieu nay the hien cho tren c s mi la tap tch M ( N ham (A(x) phai la mot mat cong doc theo truc y va (B(y) la mot mat cong doc theo truc x. Tap m A c nh ngha tren hai c s M va M ( N. e phan biet c chung, ky hieu A se c dung e ch tap m A tren c s M ( N. Tng t, ky hieu B c dung e ch tap m B tren c s M ( N, vi nhng ky hieu o th:
(A(x, y) = (A(x), vi moi y ( N va
(B(x, y) = (B(y), vi moi x ( M.
Sau khi a a c hai tap m A, B ve chung mot c s la M ( N thanh A va B th ham lien thuoc (A(B(x, y) cua tap m A ( B c xac nh theo cong thc (4).
b. Phep giao:
Giao cua hai tap m A va B co cung c s M la mot tap m cung xac nh tren c s M vi ham lien thuoc:
(A(B(x) = MIN{(A(x), (B(x)},
Trong cong thc tren ky hieu min c viet hoa thanh MIN ch e bieu hien rang phep tnh lay cc tieu c thc hien tren tap m. Ban chat phep tnh khong co g thay oi.
Co nhieu cong thc khac nhau c dung e tnh ham lien thuoc (A(B(x) cua giao hai tap m nh:
1. ,
2. (A(B(x) = max{0, (A(x) + (B(x) - 1}(Phep giao Lukasiewicz),
3.
(Tch Einstein),
4. (A(B(x) =(A (x)(B(x)(Tch ai so),...
Cong thc tren cung ap dung c cho hp hai tap m khong cung c s bang cach a ca hai tap m ve chung mot c s la tch cua hai c s a cho.
Chang han co hai tap m A nh ngha tren c s M va B nh ngha tren c s N. Do hai c s M va N oc lap vi nhau nen ham lien thuoc (A(x), x ( M cua tap m A se khong phu thuoc vao N va ngc lai (B(y), y ( N cua tap m B cung se khong phu thuoc vao M. Tren c s mi la tap tch M ( N ham (A(x) la mot mat cong doc theo truc y va (B(y) la mot mat cong doc theo truc x. Tap m A (hoac B) c nh ngha tren hai c s M (hoac N) va M ( N. e phan biet, ky hieu A (hoac B) se c dung e ch tap m A (hoac B) tren c s mi la M ( N. Vi nhng ky hieu o th
(A(x, y) = (A(x), vi moi y ( N va
(B(x, y) = (B(y), vi moi x ( M.
c. Phep bu:
Bu cua tap m A co c s M va ham lien thuoc (A(x) la mot tap m AC xac nh tren cung c s M vi ham lien thuoc:
(Ac(x) = 1 - (A(x).
3. Luat hp thanh m:
a. Menh e hp thanh:
Cho hai bien ngon ng ( va (. Neu bien ( nhan gia tr m A co ham lien thuoc (A(x) va ( nhan gia tr m B co ham lien thuoc (B(y) th hai bieu thc:
( = A,
( = B.c goi la hai menh e.
Ky hieu hai menh e tren la p va q th menh e hp thanh p ( q (t p suy ra q), hoan toan tng ng vi luat ieu khien (menh e hp thanh mot ieu kien)
NEU ( = A th ( = B, trong o menh e p c goi la menh e ieu kien va q la menh e ket luan.
Menh e hp thanh tren la mot v du n gian ve bo ieu khien m. No cho phep t mot gia tr au vao x0 hay cu the hn la t o phu thuoc (A(x0) oi vi tap m A cua gia tr au vao x0 xac nh c he so thoa man menh e ket luan q cua gia tr au ra y. Bieu dien he so thoa man menh e q cua y nh mot tap m B cung c s vi B th menh e hp thanh chnh la anh xa:
(A(x0) ( (B(y).
b. Mo ta menh e hp thanh:
Anh xa (A(x0) ( (B(y) ch ra rang menh e hp thanh la mot tap ma moi phu thuoc la mot gia tr ((A(x0), (B(y)), tc la moi phu thuoc la mot tap m. Mo ta menh e hp thanh p ( q va cac menh e ieu khien p, ket luan q co quan he sau:
pqp ( q
001
011
100
111
noi cach khac: menh e hp thanh p ( q co gia tr logic cua ~p( q, trong o ~ ch phep tnh lay gia tr logic AO va ( ch phep tnh logic HOAC.
Bieu thc tng ng cho ham lien thuoc cua menh e hp thanh se la
A ( B ( MAX{1 - (A(x), (B(y)}Ham lien thuoc cua menh e hp thanh co c s la tap tch hai tap c s a co. Do co s mau thuan rang p ( q luon co gia tr ung (gia tr logic 1) khi p sai nen s chuyen oi tng ng t menh e hp thanh p ( q kinh ien sang menh e hp thanh m A ( B khong ap dung c trong ky thuat ieu khien m.
e khac phuc nhc iem tren, co nhieu y kien khac nhau ve nguyen tac xay dng ham lien thuoc (A(B(x, y) cho menh e hp thanh A ( B nh:
1. (A(B(x, y) = MAX{MIN{(A(x), (B(y)},1 - (A(x)}cong thc Zadeh,
2. (A(B(x, y) = MIN{1, 1 - (A(x) + (B(y)}cong thc Lukasiewicz,
3. (A(B(x, y) = MAX{1 - (A(x), (B(y)}cong thc Kleene-Dienes,
song nguyen tac cua Mamdani: o phu thuoc cua ket luan khong c ln hn o phu thuoc cua ieu kien la co tnh thuyet phuc nhat va hien ang c s dung nhieu nhat e mo ta luat menh e hp thanh m trong ky thuat ieu khien.
T nguyen tac cua Mamdani co c cac cong thc xac nh ham lien thuoc sau cho menh e hp thanh A ( B:
1. (A(B(x, y) = MIN{(A(x), (B(y)}cong thc MAX-MIN,
2. (A(B(x, y) = (A(x).(B(y)cong thc MAX-PROD,
Cac cong thc tren cho menh e hp thanh A ( B c goi la quy tac hp thanh.
c. Luat hp thanh m:
* Luat hp thanh mot ieu kien:
Luat hp thanh MAX-MIN:
Luat hp thanh MAX-MIN la ten goi mo hnh (ma tran) R cua menh e hp thanh A ( B khi ham lien thuoc (A(B(x, y) cua no c xay dng tren quy tac MAX-MIN.
Trc tien hai ham lien thuoc (A(x) va (B(y) c ri rac hoa vi chu ky ri rac u nho e khong b mat thong tin.
Tong quat len cho mot gia tr ro x0 bat ky:
x0 ( X = {x1, x2, ..., xn}
tai au vao, vector chuyen v a se co dang:
aT = (a1, a2, ..., an)
trong o ch co mot phan t ai duy nhat co ch so i la ch so cua x0 trong X co gia tr bang 1, cac phan t con lai eu bang 0. Ham lien thuoc:
= (l1, l2, ..., ln) vi
e tranh s dung thuat toan nhan ma tran cua ai so tuyen tnh cho viec tnh (B(y) va cung e tang toc o x ly, phep tnh nhan ma tran c thay bi luat max-min cua Zadeh vi max (phep lay cc ai) thay vao v tr phep nhan va min (phep lay cc tieu) thay vao v tr phep cong nh sau
Luat hp thanh MAX-PROD:
Cung giong nh vi luat hp thanh MAX-MIN, ma tran R cua luat hp thanh MAX-PROD c xay dng gom cac hang la m gia tr ri rac cua au ra (B(y1), (B(y2), ..., (B(ym) cho n gia tr ro au vao x1, x2, ..., xn. Nh vay, ma tran R se co n hang va m cot.
e rut ngan thi gian tnh va cung e m rong cong thc tren cho trng hp au vao la gia tr m, phep nhan ma tran aT.R cung c thay bang luat max-min cua Zadeh nh a lam cho luat hp thanh MAX-MIN.
Thuat toan xay dng R:
Phng phap xay dng R cho menh e hp thanh mot ieu kien R: A ( B, theo MAX-MIN hay MAX-PROD, e xac nh ham lien thuoc cho gia tr m B au ra hoan toan co the m rong tng t cho mot menh e hp thanh bat ky nao khac dang:
NEU ( = A th ( = B,
trong o ma tran hay luat hp thanh R khong nhat thiet phai la mot ma tran vuong. So chieu cua R phu thuoc vao so iem lay mau cua (A(x) va (B(y) khi ri rac cac ham lien thuoc tap m A va B.
Chang han vi n iem mau x1, x2, ..., xn cua ham (A(x) va m iem mau y1, y2, ..., ym cua ham (B(y) th luat hp thanh R la mot ma tran n hang m cot nh sau
Ham lien thuoc (B(y) cua gia tr au ra ng vi gia tr ro au vao xk c xac nh theo:
(B(y) = aT.R vi
aT = (0, 0, ..., 0, 1, 0, ..., 0).
V tr th kTrong trng hp au vao la gia tr m A vi ham lien thuoc (A(x) th ham lien thuoc (B(y) cua gia tr au ra B:(B(y) = (l1, l2, ..., lm)
cung c tnh theo cong thc tren va
, k = 1, 2, ..., m,trong o a la vector gom cac gia tr ri rac cua cac ham lien thuoc (A(x) cua A tai cac iem
x ( X = {x1, x2, ..., xn}, tc la
aT = ((A(x1), (A(x2), ..., (A(xn),
u iem cua luat max-min Zadeh la co the xac nh ngay c R thong qua tch dyadic, tc la tch cua mot vector vi mot vector chuyen v. Vi n iem ri rac x1, x2, ..., xn cua c s cua A va m iem ri rac y1, y2, ..., ym cua c s cua B th t hai vector:
(TA = ((A(x1), (A(x2), ..., (A(xn)) va
(TB = ((B(y1), (A(y2), ..., (A(ym))suy ra
R = (TA..(TB,trong o neu quy tac ap dung la MAX-MIN th phep nhan c thay bang phep tnh lay cc tieu (min), vi quy tac MAX-PROD th thc hien phep nhan nh bnh thng.
* Luat hp thanh cua menh e nhieu ieu kien:
Mot menh e hp thanh vi d menh e ieu kien:
NEU (1 = A1 VA (2 = A2 VA ... VA (d = Ad th ( = Bbao gom d bien ngon ng au vao (1, (2 , ..., (d va mot bien au ra ( cung c mo hnh hoa giong nh viec mo hnh hoa menh e hp thanh co mot ieu kien, trong o lien ket VA gia cac menh e (hay gia tr m) c thc hien bang phep giao cac tap m A1, A2, ..., Ad vi nhau. Ket qua cua phep giao se la o thoa man H cua luat. Cac bc xay dng luat hp thanh R nh sau:
- Ri rac hoa mien xac nh ham lien thuoc (A1(x1), (A2(x2), ..., (Ad(xd), (B(y) cua cac menh e ieu kien va menh e ket luan.
- Xac nh o thoa man H cho tng vector cac gia tr ro au vao la vector to hp d iem mau thuoc mien xac nh cua cac ham lien thuoc (Ai(xi), i = 1, ..., d. Chang han vi mot vector cac gia tr ro au vao
,
trong o ci, i = 1, .., d la mot trong cac iem mau mien xac nh cua (Ai(xi) th
H = MIN{(A1(c1), (A2(c2), ..., (Ad(cd)}- Lap R gom cac ham lien thuoc gia tr m au ra cho tng vector cac gia tr au vao theo nguyen tac:
(B(y) = MIN{H, (B(y)} neu quy tac s dung la MAX-MIN hoac
(B(y) = H.(B(y) neu quy tac s dung la MAX-PROD.
Luat hp thanh R vi d menh e ieu kien c bieu dien di dang mot li khong gian (d + 1) chieu.
* Luat cua nhieu menh e hp thanh:
Thuat toan xay dng luat chung cua nhieu menh e hp thanh
Tong quat hoa phng phap mo hnh hoa tren cho p menh e hp thanh:
R1: NEU ( = A1 th ( = B1, hoac
R2: NEU ( = A2 th ( = B2, hoac
...
Rp: NEU ( = Ap th ( = Bptrong o cac gia tr m A1, A2, ..., Ap co cung c s X va B1, B2, ..., Bp co cung c s Y.
Goi ham lien thuoc cua Ak va Bk la (Ak(x) va (Bk(y) vi k = 1, 2, ..., p. Thuat toan trien khai R = R1 ( R2 ( ... ( Rp se nh sau:
1. ri rac hoa X tai n iem x1, x2, ..., xn va Y tai m iem y1, y2, ..., ym,
2. xac nh cac vector (Ak(x) va (Bk(y) vi k = 1, 2, ..., p theo
(TAk = ((Ak(x1), (Ak(x2), ..., (Ak(xn))
(TBk = ((Bk(y1), (Ak(y2), ..., (Ak(ym)),
tc la Fuzzy hoa cac iem ri rac cua X va Y.
3. Xac nh mo hnh cho luat ieu khien
Rk = (TAk.(TBk = (rkij), i = 1, ..., n va j = 1, ..., n,
4. Xac nh luat hp thanh R = (max{(rkij), k = 1, ..., p}).
Tng menh e nen c mo hnh hoa thong nhat theo mot quy tac chung, v du hoac theo quy tac MAX-MIN hoac theo MAX-PROD ... Khi o cac luat ieu khien Rk se co mot ten chung la luat hp thanh MAX-MIN hay luat hp thanh MAX-PROD. Ten chung nay se la ten goi cua luat hp thanh chung R.
4. Giai m:
Bo ieu khien m cho du vi mot hoac nhieu luat ieu khien (menh e hp thanh) cung cha the ap dung c trong ieu khien oi tng, v au ra luon la mot gia tr m B. Mot bo ieu khien m hoan chnh can phai co them khau giai m (qua trnh ro hoa tap m au ra B).
Giai m la qua trnh xac nh mot gia tr ro y nao o co the chap nhan c t ham lien thuoc (B(y) cua gia tr m B (tap m). Co hai phng phap giai m chu yeu la phng phap cc ai va phng phap iem trong tam, trong o c s cua tap m B c ky hieu thong nhat la Y.
a. Phng phap cc ai:
Giai m theo phng phap cc ai gom hai bc:
- xac nh mien cha gia tr ro y. Gia tr ro y la gia tr ma tai o ham lien thuoc at gia tr cc ai (o cao H cua tap m B), tc la mien:
G = {y ( Y | (B(y) = H}.- xac nh y co the chap nhan c t G.
G la khoang [y1, y2] cua mien gia tr cua tap m au ra B2 cua luat ieu khien
R2: NEU ( = A2 th ( = B2.
trong so hai luat R1, R2 va luat R2 c goi la luat quyet nh. Vay luat ieu khien quyet nh la luat Rk, k ( {1, 2, ..., p} ma gia tr m au ra cua no co o cao ln nhat, tc la bang o cao H cua B.
e thc hien bc hai co ba nguyen ly:
- nguyen ly trung bnh,
- nguyen ly can trai va
- nguyen ly can phai.
Neu ky hieu
va
th y1 chnh la iem can trai va y2 la iem can phai cua G.
* Nguyen ly trung bnh:
Theo nguyen ly trung bnh, gia tr ro y se la
Nguyen ly nay thng c dung khi G la mot mien lien thong va nh vay y cung se la gia tr co o phu thuoc ln nhat. Trong trng hp B gom cac ham lien thuoc dang eu th gia tr ro y khong phu thuoc vao o thoa man cua luat ieu khien quyet nh.
* Nguyen ly can trai:
Gia tr ro y c lay bang can trai y1 cua G. Gia tr ro lay theo nguyen ly can trai nay se phu thuoc tuyen tnh vao o thoa man cua luat ieu khien quyet nh.
* Nguyen ly can phai:
Gia tr ro y c lay bang can phai y2 cua G. Cung giong nh nguyen ly can trai, gia tr ro y ay phu thuoc tuyen tnh vao ap ng vao cua luat ieu khien quyet nh.
b. Phng phap iem trong tam:
Phng phap iem trong tam se cho ra ket qua y la hoanh o cua iem trong tam mien c bao bi truc hoanh va ng (B(y).
Cong thc xac nh y theo phng phap iem trong tam nh sau:
,
trong o S la mien xac nh cua tap m B.
Cong thc tren cho phep xac nh gia tr y vi s tham gia cua tat ca cac tap m au ra cua mot luat ieu khien mot cach bnh ang va chnh xac, tuy nhien lai khong e y c ti o thoa man cua luat ieu khien quyet nh va thi gian tnh toan lau. Ngoai ra mot trong nhng nhc iem c ban cua phng phap iem trong tam la co the gia tr y xac nh c lai co o phu thuoc nho nhat, tham ch bang 0. Bi vay e tranh nhng trng hp nh vay, khi nh ngha ham lien thuoc cho tng gia tr m cua mot bien ngon ng nen e y sao cho mien xac nh cua cac gia tr au ra la mot mien lien thong.
* Phng phap iem trong tam cho luat hp thanh SUM-MIN:
Gia s co q luat ieu khien c trien khai. Vay th moi gia tr m B tai au ra cua bo ieu khien th k la vi k = 1, 2, ..., q th quy tac SUM-MIN, ham lien thuoc (B(y) se la:
,
Cong thc tnh y co the c n gian nh sau:
trong o:
va
* Phng phap o cao:
S dung cong thc tnh y tren cho ca hai loai luat hp thanh MAX-MIN va SUM-MIN vi them mot gia thiet la moi tap m (Bk(y) c xap x bang mot cap gia tr (yk, Hk) duy nhat (singleton), trong o Hk la o cao cua (Bk(y) va yk la mot iem mau trong mien gia tr cua (Bk(y) co:
(Bk(y) = Hk.th ,
Cong thc tren co ten goi la cong thc tnh xap x y theo phng phap o cao va khong ch ap dung cho luat hp thanh MAX-MIN, SUM-MIN ma con co the cho ca nhng luat hp thanh khac nh MAX-PROD hay SUM-PROD.
II. ng dung logic m trong ieu khien:
1. Cac thanh phan c ban cua he thong ieu khien t ong:
Mot he thong ieu khien t ong bao gom ba phan chu yeu:
- Thiet b ieu khien (TBK)
- oi tng ieu khien (TK)
- Thiet b o lng (TBL)
S o khoi cua he thong ieu khien t ong
Trong o:
C: Tn hieu can ieu khien c goi la tn hieu ra.
U: Tn hieu ieu khien.
R: Tn hieu chu ao (chuan hay tham chieu) thng c goi la tn hieu vao.
N: Tn hieu nhieu tac ong t ben ngoai vao he thong.
F: Tn hieu hoi tiep.
2. Cac nguyen tac ieu khien t ong:
a. Nguyen tac gi on nh:
* Nguyen tac bu tac ong ben ngoai:
Trong o tn hieu tac ong ben ngoai len oi tng ieu khien KT co the kiem tra va o lng c. Neu ac tnh cua oi tng G(p) c xac nh trc th tn hieu ieu khien U co the c xac nh theo tac ong ben ngoai N sao cho ngo ra C = Co = Cte, vi Co la gia tr tn hieu ra can gi on nh. ( vi Gc la ham truyen cua thiet b ieu khien). Loai he thong nay cho phep gi ngo ra khong oi va khong phu thuoc vao tac ong ben ngoai N.
* Nguyen tac ieu khien sai lech:
Khi tac ong ben ngoai khong kiem tra va o lng c con ac tnh cua oi tng khong xac nh mot cach ay u th nguyen tac bu tac ong ben ngoai khong cho phep gi on nh tn hieu ra C. Khi o nguyen tac ieu khien sai lech c s dung. S o khoi cua nguyen tac nay nh sau:
Trong o tn hieu ra C c phan hoi ve au vao va phoi hp vi tn hieu vao R e tao ra sai lech ( = R C (phan hoi am). Tn hieu sai lech nay c a vao TBK e tao ra tn hieu ieu khien U at vao oi tng ieu khien.
* Nguyen tac ieu khien hon hp:
Nguyen tac nay cho phep gi tn hieu ra C khong phu thuoc vao tac ong ben ngoai N.
b. Nguyen tac ieu khien theo chng trnh:
Nguyen tac nay thng dung cho he thong ieu khien h. Nguyen tac nay gi cho tn hieu ra C thay oi theo mot chng trnh nh san C(t) = Co(t). Nguyen tac gi on nh co the xem la trng hp rieng cua nguyen tac ieu khien theo chng trnh khi Co(t) = Cte.
c. Nguyen tac t chnh nh:
ac tnh ong hoc cua hau het cac he thong ieu khien eu khong phai la khong oi do nhieu nguyen nhan nh anh hng cua thi gian, thay oi cac tham so va moi trng. Du anh hng cua nhng thay oi nho cua ac tnh ong hoc c ieu chnh nh he ieu khien co phan hoi nhng neu cac thong so cua he thong va moi trng thay oi ang ke th mot he thong at yeu cau can phai co kha nang thch nghi. S thch nghi bao gom kha nang t ieu chnh hay t cai tien e phu hp vi nhng thay oi khong the d oan trc cua moi trng hay cau truc. He thong ieu khien thch nghi co kha nang phat hien nhng thay oi cac tham so va thc hien viec ieu chnh can thiet cac tham so cua bo ieu khien e duy tr mot tieu chuan toi u nao o.
Trong he thong ieu khien thch nghi, ac tnh ong phai c nhan dang moi thi iem e co the ieu chnh cac tham so bo ieu khien nham muc tieu duy tr ch tieu toi u e ra. Nh vay he thong ieu khien thch nghi la he thong khong dng va no thch nghi vi he thong chu tac ong cua moi trng thay oi.
Ngoai vong kn c ban gom hai khoi TK va TKC (thiet b ieu khien c ban), he ieu khien thch nghi con co mot khoi thiet b ieu khien thch nghi TBKA. Khoi nay nhan cac tn hieu cua he thong R, U, N, C va da tren cac ch tieu toi u yeu cau cua he thong ma nh ra cac tn hieu ieu khien lam thay oi cac tham so cua thiet b ieu khien c ban TBKC. TBKA nh vay va am nhan vai tro ieu khien va co chc nang cua mot khoi tnh toan. Hien nay cac thiet b ieu khien thch nghi co the la mot may vi tnh am nhan chc nang tnh toan, ghi nhan d lieu va ieu khien.
3. Tieu chuan anh gia mot he thong ieu khien t ong:
a. o chnh xac cua he thong:
o chnh xac anh gia tren c s phan tch cac sai lech, ieu chnh cac sai lech nay phu thuoc rat nhieu yeu to bien thien cua tn hieu at se gay ra cac sai lech trong qua trnh qua o va cung sinh ra sai lech trong che o xac lap. Tren c s phan tch cac sai lech ieu chnh ta co the chon cac bo ieu chnh, cac mach bu thch hp e nang cao o chnh xac cua he thong.
Cac he so sai lech:
Trong ieu khien t ong thng at ten cho cac he so sai lech nh sau:
Exlp: he so sai lech v tr.
Exlv: he so sai lech toc o.
Exla: he so sai lech gia toc.
Mot he thong chnh xac tuyet oi la he co moi s sai lech eu bang 0.
Xet he thong co cau truc toi gian nh sau:
Trong o:
G(p): ham truyen mach h.
TM: thiet b cong nghe.
R(p), r(t): tn hieu ieu khien.
C(p), c(t): tn hieu ra.
N: cac nhieu loan.
Wi(p): ham truyen vi cac nhieu loan.
Gia s kch thch au vao la ham nac: r(t) = 1(t) ( R(p) = 1/p.
Vi : hang so sai lech v tr
Khi r(t) = t . 1(t) ( R(p) = 1/p2:
Vi : hang so sai lech van toc.
Khi r(t) = t2/2. 1(t) ( R(p) = 1/p3:
Vi : hang so sai lech gia toc.
e tang o chnh xac cua he, ngi ta them khau tch phan vao he h nhng khi o o on nh cua he thong b giam i.
b. o on nh cua he thong:
Viec khao sat on nh da tren quan iem vao chan ra chan vi cac tieu chuan: Routh, Hurwitz va tieu chuan tan so Nyquist Mikhailov cung nh cac phng phap chia mien D hay quy ao nghiem e khao sat he co thong so bien oi.
He thong tuyen tnh c goi la on nh neu tn hieu ra b chan khi tn hieu vao b chan. Xet mot he thong ieu khien vong kn c ban sau:
Ham truyen vong kn:
Co phng trnh ac trng la:
- ieu khien can va u e he tuyen tnh on nh la tat ca cac cc Pi cua G(p) phai co phan thc am.
- Re Pi < 0, (i hay noi cach khac nghiem cua phng trnh ac trng phai ben trai mat phang phc.
Ta cung goi he bien gii on nh khi co t nhat mot nghiem cua phng trnh ac trng tren truc ao con nhng nghiem con lai trai mat phang phc.
He thong se khong on nh neu co t nhat mot nghiem cua phng trnh ac trng co phan thc dng.
* Tieu chuan ai so:
Xet mot he thong co phng trnh ac trng;
F(p) = anpn + an-1pn-1 + + a0 = 0, a ( 0.
ieu kien can e he on nh la:
aj cung dau vi jan (= 0, 1, , n)aj ( 0 (= 0, 1, , n).
Tieu chuan Hurwitz:
ieu kien can e he on nh la cac nghiem cua phng trnh ac trng nam ben trai mat phang phc la xet ca cac nh thc Hurwitz Dk (k = 0 n) eu cung dau, trong o D0 = a, Di = an-1.
Tieu chuan Routh:
ieu kien can e cac nghiem cua phng trnh ac trng nam ben trai mat phang phc la tat ca cac phan t cua cot 1 bang Routh eu cung dau, neu co s thay oi dau th so lan oi dau bang so nghiem PMP.
o d tr on nh:
o d tr on nh la mot ai lng dng anh gia mc o on nh cua he thong va neu vt qua lng d tr o th he thong on nh se thanh mat on nh.
* Tieu chuan tan so: Tieu chuan Nyquist:
Khi G(p) on nh th he kn on nh khi va ch khi bieu o Nyquist bao iem -1. Khi G(p) khong on nh th he kn on nh khi va ch khi bieu o Nyquist bao iem 1 m lan.
Tieu chuan gian o Bode:He on nh khi G(p) khong c co cc phan mat phang phc.
Xet ac tnh pha tan so cat bien WB, xem ac tnh pha tan so cat bien neu:
- ng pha tren ng 180o th he kn on nh.
- ng pha ng 180o th he kn bien gii on nh.
- ng pha di ng 180o th he kn khong on nh.
4. Cac kieu ieu khien co ien:
a. ieu khien t le P:
ieu khien t le cho phep nhanh chong at tr so yeu cau nhng thng co sai lech. e giam sai lech ngi ta tang o li K, neu tang K qua dan en vot lo (max ln va he co the mat on nh.
b. ieu khien t le vi phan PD:
Trong he thong ma o vot lo qua ln th ngi ta thng them khau ieu khien vi phan:
Neu C(t) tang (o vot lo ln) th e(t) giam ( , nen giam nhieu khong cho C(t) tang qua. V vay ieu khien PD lam giam chan cua he thong tang len, giam vot lo nhng thi gian tre se lau hn.
ieu khien PD ch anh hng ti sai so xac lap Exl, neu Exl bien thien theo thi gian () ma khong anh hng neu Exl(t) = Cte. Neu Exl tang theo t, tn hieu tac ong co thanh phan t le vi lam giam bien o sai so.
c. ieu khien t le tch phan PI:
e nang cao o chnh xac cua he thong, ngi ta them khau ieu khien tch phan. Tn hieu tac ong:
Bao lau con sai lech, tn hieu tac ong con duy tr e lam giam sai lech nay. ieu khien PI lam cho he hu sai thanh vo sai. Loai cua he thong c tang len ngha la bac cua no cung tang len, do o o on nh cua he kem i.
d. ieu khien t le tch phan vi phan PID:
e cai thien he thong xac lap va qua o th tn hieu tac ong:
5. Bo ieu khien m:
a. Bo ieu khien m c ban:
Nhng thanh phan c ban cua mot bo ieu khien m bao gom khau Fuzzy hoa, thiet b thc hien luat hp thanh va khau giai m. Mot bo ieu khien m ch gom ba thanh phan nh vay co ten goi la bo ieu khien m c ban.
Do bo ieu khien m c ban ch co kha nang x ly cac gia tr tn hieu hien thi nen no thuoc nhom cac bo ieu khien tnh. Tuy vay e m rong mien ng dung cua chung vao cac bai toan ieu khien ong, cac khau ong hoc can thiet se c noi them vao bo ieu khien m c ban. Cac khau ong o ch co nhiem vu cung cap them cho bo ieu khien m c ban cac gia tr ao ham hay tch phan cua tn hieu. Vi nhng khau ong bo sung nay, bo ieu khien c ban se c goi la bo ieu khien m ong.
b. Tong hp bo ieu khien m:
* nh ngha cac bien vao ra:
Xac nh cac bien ngon ng vao/ra va at ten cho chung.
* Xac nh tap m:
nh ngha cac bien ngon ng vao/ra bao gom so cac tap m va dang cac ham lien thuoc cua chung, can xac nh:
Mien gia tr vat ly (c s) cua cac bien ngon ng vao/ra
So lng tap m (gia tr ngon ng)
Ve nguyen tac, so lng cac gia tr ngon ng cho moi bien ngon ng nen nam trong khoang t 3 en 10 gia tr. Neu so lng gia tr t hn 3 th co t y ngha, v khong thc hien c viec lay vi phan. Neu ln hn 10, kho co kha nang bao quat v phai nghien cu ay u e ong thi phan biet khoang 5 en 9 phng an khac nhau va co kha nang lu gi trong mot thi gian ngan.
Xac nh ham lien thuoc:
Chon cac ham lien thuoc co phan chong len nhau va phu kn mien gia tr vat ly e trong qua trnh ieu khien khong xuat hien lo hong. Trong trng hp vi mot gia tr vat ly ro x0 cua bien au vao ma tap m B au ra co o cao bang 0 (mien xac nh la mot tap rong) va bo ieu khien khong the a ra mot quyet nh ieu khien nao, ly do la hoac khong nh ngha c nguyen tac ieu khien phu hp hoac la do cac tap m cua bien ngon ng co nhng lo hong. Cung nh vay oi vi bien ra, cac ham lien thuoc dang hnh thang vi o xep chong len nhau rat nho, nhn chung khong phu hp vi bo ieu khien m v nhng ly do tren. No tao ra mot vung chet (dead zone) trong trang thai lam viec cua bo ieu khien. Trong mot vai trng hp, chon ham lien thuoc dang hnh thang hoan toan hp ly, o la trng hp ma s thay oi cac mien gia tr cua tn hieu vao khong keo theo s thay oi bat buoc tng ng cho mien gia tr cua tn hieu ra. Noi chung, ham lien thuoc c chon sao cho mien tin cay cua no ch co mot phan t, hay ch ton tai mot iem vat ly co o phu thuoc bang o cao cua tap m.
Ri rac hoa cac tap m:
o phan giai cua cac gia tr phu thuoc c chon trc hoac la cho cac nhom ieu khien m loai dau phay ong hoac so nguyen ngan (gia tr phu thuoc la cac so nguyen co o dai 2 byte) hoac theo byte (gia tr phu thuoc la cac so khong dau co o dai 1 byte). Cac kha nang e tong hp cac he thong la rat khac nhau, phng phap ri rac hoa se la yeu to quyet nh gia o chnh xac va toc o cua bo ieu khien.
* Xay dng cac luat ieu khien:
Trong viec xay dng cac luat ieu khien (menh e hp thanh) can lu y la khong c tao ra cac lo hong vung lan can iem khong, bi v khi gap phai cac lo hong xung quanh iem lam viec bo ieu khien se khong the lam viec ung theo nh trnh t a nh. Ngoai ra, trong phan ln cac bo ieu khien, tn hieu ra se bang 0 khi tat ca cac tn hieu vao bang 0.
e phat trien them, co the chon he so an toan cho tng luat ieu khien, tc la khi thiet lap luat hp thanh chung:
R = R1 ( R2 (...( Rnkhong phai tat ca cac luat ieu khien Rk, k = 1, 2, ..., n c tham gia mot cach bnh ang ma theo mot he so an toan nh trc. Ngoai nhng he so an toan cho tng luat ieu khien con co he so an toan cho tng menh e ieu kien cua mot luat ieu khien khi so cac menh e cua no nhieu hn 1.
* Chon thiet b hp thanh:
Co the chon thiet b hp thanh theo nhng nguyen tac tren, bao gom:
s dung cong thc co luat MAX-MIN, MAX-PROD,
s dung cong thc Lukasiewics co luat SUM-MIN, SUM-PROD,
s dung tong Einstein,
s dung tong trc tiep,
* Chon nguyen ly giai m:
S dung cac phng phap xac nh gia tr au ra ro, hay con goi la qua trnh giai m hoac ro hoa. Phng phap giai m c chon cung gay anh hng en o phc tap va trang thai lam viec cua toan bo he thong. Thong thng trong thiet ke he thong ieu khien m, giai m bang phng phap iem trong tam co nhieu u iem hn ca, bi v trong ket qua eu co s tham gia cua tat ca ket luan cua cac luat ieu khien, Rk, k = 1, 2, ,n (menh e hp thanh).
c. Tnh phi tuyen cua he m:
* Phan loai cac khau ieu khien m:
Mot bo ieu khien m co ba khau c ban gom:
Khau Fuzzy hoa co nhiem vu chuyen oi mot gia tr ro au vao x0 thanh mot vector ( gom cac o phu thuoc cua gia tr ro o theo cac gia tr m a nh ngha cho bien ngon ng au vao,
Khau thc hien luat hp thanh, co ten goi la thiet b hp thanh, x ly vector ( va cho ra gia tr m B cua bien ngon ng au ra,
Khau giai m, co nhiem vu chuyen oi tap m B thanh mot gia tr ro y chap nhan c cho oi tng (tn hieu ieu chnh).
Cac bo ieu khien m se c phan loai da tren quan he vao/ra toan cuc cua tn hieu vao x0 va tn hieu ra y. Quan he toan cuc o c goi la quan he truyen at.
Viec phan loai quan he truyen at mot bo ieu khien m da vao 7 tieu chuan:
tnh hay ong.
tuyen tnh hay phi tuyen.
tham so tap trung hay tham so rai.
lien tuc hay ri rac.
tham so tnh hay tham so ong.
tien nh hay ngau nhien.
on nh hay khong on nh.
Xet tng khau cua bo ieu khien m gom cac khau Fuzzy hoa, thiet b hp thanh va giai m, th thay rang trong quan he vao/ra gia tr y tai au ra ch phu thuoc vao mot mnh gia tr x0 cua au vao ch khong phu thuoc vao cac gia tr a qua cua tn hieu x(t), tc la ch phu thuoc vao gia tr cua x(t) tai ung thi iem o. Do o bo ieu khien m thc chat la mot bo ieu khien tnh va quan he truyen at hoan toan c mo ta ay u bang ng ac tnh y(x) nh cac ng ac tnh cua khau relay 2 hoac 3 trang thai quen biet trong ky thuat ieu khien phi tuyen kinh ien.
* Xay dng cong thc quan he truyen at:
Viec xay dng cong thc tong quat y(x) cho quan he truyen at bo ieu khien MIMO ch can bo ieu khien m vi nhieu au vao va mot au ra (bo MISO) la u v mot bo ieu khien m co nhieu au ra bat ky eu co the c thay bang mot tap cac bo ieu khien vi mot au ra.
Luat ieu khien cua bo ieu khien m nhieu au vao va mot au ra co dang:
Rk: NEU (1 = A1k VA (2 = A2k VA ... VA (d = Adk TH ( = Bktrong o k = 1, 2 , n va cac tap m Amk, m = 1, 2, , d co cung c s X. Luat ieu khien tren con co ten goi la luat chuan (canonical) v no bao ham rat nhieu nhng dang luat ieu khien khac nh:
R: NEU (1 = A1 VA VA (m = Am HOAC ( m+1 = Am+1 VA
VA (d = Ad TH ( = Bhay R: NEU (1 = A1 VA (2 = A2VA VA (m = Am TH ( = B neu m < d
* Quan he vao/ra cua thiet b hp thanh:
Mot tap (luat hp thanh) R cua n luat ieu khien c goi la:
- u, neu khong co mot gia tr ro x0 ( X nao cua au vao lam cho o thoa man moi luat Rk cua R bang 0, tc la
(x0 ( X, (m ( {1, 2, , d} : , (k ( {1, 2, , n}-nhat quan, neu khong co hai luat ieu khien nay cung co cung menh e ieu kien nhng lai khac menh e ket luan.
Vi cac bc trien khai tren, quan he vao ra cua thiet b hp thanh c thc hien qua cac bc:
Bc 1: Tm tap m au ra cua RkKy hieu x la mot vector d chieu co phan t th m la mot gia tr bat ky thuoc tap hp m, tc la:
, trong o xm la gia tr thuoc mien xac nh cua.
o thoa man Hk cua luat Rk c tnh theo
1. Hk = MIN{, , , },
neu s dung (I.6) e thc hien phep giao trong menh e ieu kien cua Rk,
2.
neu s dung cong thc Tch ai so e thc hien phep giao trong khoi menh e ieu kien cua Rk.T o tap m au ra Bk se co ham lien thuoc
a) (Bk(y) = MIN{Hk, (Bk(y)}neu s dung nguyen tac trien khai MAX-MIN hoac SUM-MIN e cai at Rk,
b) (Bk(y) = Hk.(Bk(y)neu s dung nguyen tac trien khai MAX-PROD hoac SUM-PROD e cai at Rk,
Bc 2: Tm tap m au ra cua R
Sau khi a co c d tap m au ra cho tng luat ieu khien Rk la:
(Bk(y), k = 1, 2, , d.
tap m au ra chung B cua thiet b hp thanh.
c xac nh nh sau:
1. (B(y) = MAX{(Bk(y), k = 1, 2, , n}hoac
2.
T nhng cong thc cua bc 1 va cua bc 2 de dang suy ra c cong thc bieu dien quan he vao/ra x ( (B(y) cua thiet b hp thanh. Cho nhng nguyen tac trien khai, cong thc ap dung thc hien phep giao va hp tren tap m khac nhau th co cong thc bieu dien quan he vao/ra khac nhau. Neu ap dung tch ai so cho phep giao, nguyen tac trien khai MAX-MIN e thiet lap luat ieu khien va cong thc cho phep hp th:
hoac cho nguyen tac trien khai SUM-PROD, phep giao va cong thc Lukasiewicz cho phep hp th:
* Quan he vao/ra cua khau giai m:
Neu ky hieu H la la o cao cua B, G la mien gia tr vat ly y co o phu thuoc bang H va S la mien xac nh cua B th:
1.
cho phng phap cc ai theo nguyen ly trung bnh,
2.
cho phng phap cc ai theo nguyen ly can trai,
3.
cho phng phap cc ai theo nguyen ly can phai,
4.
cho phng phap iem trong tam,
5.
cho phng phap iem trong tam va nguyen tac trien khai SUM-MIN,
6.
cho phng phap iem trong tam va nguyen tac trien khai SUM-MIN vi quy c singleton (phng phap o cao), trong o yk la iem mau thoa man (Bk(yk) = Hk.
* Quan he truyen at y(x):Quan he truyen at y(x) cua bo ieu khien m nhan c thong qua viec ghep noi hai anh xa x ( (B(y) va (B(y) ( y vi nhau e co x ( y.
Cong thc bieu dien anh xa tch nhan c phu thuoc vao thiet b hp thanh va phng phap giai m c s dung.
Ngi ta a chng minh c rang vi mot mien compact X ( Rn (vi n la so cac au vao), cac gia tr vat ly cua bien ngon ng au vao va mot ng cong phi tuyen g(x) tuy y nhng lien tuc cung cac ao ham cua no tren X th bao gi cung ton tai mot bo ieu khien m c ban co quan he truyen at y(x) thoa man:
Trong o ( la mot so thc dng bat ky cho trc. Nh vay ta co the tong hp c mot bo ieu khien m co quan he truyen at gan giong vi quan he truyen at cho trc. ieu o cho thay ky thuat ieu khien m co the giai quyet c mot bai toan tong hp ieu khien phi tuyen bat ky.
6. Ket luan ve ieu khien m:
* u iem:
- am bao c tnh on nh cua he thong ma khong can khoi lng tnh toan ln va phc tap trong khau thiet ke nh cac loai ieu khien co ien nh PID, ieu chnh sm tre pha.
- Co the tong hp bo ieu khien vi ham truyen at phi tuyen bat ky.
- Giai quyet c cac bai toan ieu khien phc tap, cac bai toan ma trc ay cha giai quyet c nh: he ieu khien thieu thong tin, thong tin khong chnh xac hay nhng thong tin ma s chnh xac cua no ch nhan thay gia cac quan he cua chung vi nhau va cung ch co the mo ta c bang ngon ng. Nh vay ieu khien m a sao chup c phng thc x ly thong tin cua con ngi va ta co the tan dung c cac tri thc, kinh nghiem cua con ngi vao trong qua trnh ieu khien.
* Khuyet iem:
- Cho en nay, cac ly thuyet nghien cu ve ieu khien m van con cha c hoan thien. V vay viec tong hp bo ieu khien m hoat ong mot cach hoan thien th khong n gian.
- Chnh v tnh phi tuyen cua he m ma ta khong the ap dung nhng thanh tu cua ly thuyet he tuyen tnh cho he m. Va v the nhng ket luan tong quat cho he m hau nh kho at c.
T nhng u khuyet iem cua bo ieu khien m ta rut ra ket luan:
- Khong bao gi thiet ke bo ieu khien m e giai quyet mot bai toan tong hp ma co the de dang thc hien bang cac bo ieu khien kinh ien thoa man yeu cau at ra.
- Viec s dung bo ieu khien m cho cac he thong can o an toan cao van con b han che do yeu cau chat lng va muc ch cua he thong ch co the xac nh va at c qua thc nghiem.
- Bo ieu khien m phai c phat trien qua thc nghiem.
- Do co kha nang ieu chnh c tnh on nh va ben vng khi lng thong tin thu thap khong chnh xac nen cac bo cam bien co the chon loai re tien va khong can o chnh xac cao.
Chng III
MO PHONG HE IEU KHIEN M BANG MATLAB
I. Gii thieu ve MatLab:
MatLab va la moi trng va la ngon ng lap trnh c viet da tren c s toan hoc nh: ly thuyet ma tran, ai so tuyen tnh, phan tch so, nham s dung cho cac muc ch tnh toan khoa hoc va ky thuat.
MatLab cho phep ngi s dung thiet ke cac hop cong cu cua rieng mnh. Ngay cang nhieu cac hop cong cu c tao ra bi cac nha nghien cu tren cac lanh vc khac nhau. Sau ay la mot so hop cong cu trong MatLab ng dung trong lnh vc ieu khien t dong:
- Control System Toolbox: nen tang cua mot nhom cac dung cu e thiet ke trong lanh vc ieu khien. Bao gom cac ham danh cho viec mo hnh hoa, phan tch, thiet ke he thong ieu khien t ong.
- Frequency Domain System Identification Toolbox: bao gom mot tap cac file .m dung cho viec mo hnh hoa he tuyen tnh da tren s o lng ap tuyen tan so cua mot he thong.
- Fuzzy Logic Toolbox: bao gom mot tap hoan chnh cac cong cu giao dien vi ngi dung danh cho viec thiet ke, mo phong va phan tch he thong suy luan m.
- Neutral Network Toolbox: bao gom mot tap cac ham cua MatLab danh cho viec thiet ke va mo phong mang neutral.
- Nonlinear Control Design Toolbox: la mot giao dien o hoa ngi dung cho phep thiet ke he ieu khien tuyen tnh va phi tuyen s dung ky thuat toi u trong mien thi gian.
- Simulink: Simulink la phan m rong cua MatLab tao ra them mot moi trng o hoa dung cho viec mo hnh hoa, mo phong va phan tch he tuyen tnh va phi tuyen ong.
- System Identification Toolbox: bao gom cac cong cu e phong tnh va nhan dang he thong.
II. Xay dng mo hnh:
1. Yeu cau cu the:
Ta can ieu khien dong nc ra t mot bon nc. Bon nc gom mot au vao la dong nc lanh, mot au vao la dong nc nong. au ra se la hon hp cua hai dong nc nong va lanh. Yeu cau at ra la phai gi nhiet o va toc o cua dong nc ra khong oi mot gia tr xac nh trc.
2. Mo hnh vat ly:
Dung Vi x ly 8 bit ng dung giai thuat logic m e ieu khien nhiet o cua lu chat ra. Can co cac khau cam bien e hoi tiep ve, cac khau bien oi A/D, D/A e chuyen oi tn hieu tng t ve dang so e VXL x ly d lieu va chuyen oi tn hieu t dang so sang tng t e ieu khien khoi cong suat.
3. Mo hnh toan hoc:
T mo hnh vat ly ta xac nh mo hnh toan hoc cua cac phan t rieng le:
a. Khau D/A: la khau gi bac khong (ZOH)
Ham truyen:
Chuyen sang he ri rac:
b. Khau A/D: la khau lay mau vi thi gian lay mau la T.
c. Bo ieu khien so (VXL):
e cai thien chat lng cua he, ta cho them khau ieu khien I ngo ra ket hp vi khau Fuzzy e ieu khien.
Khau I se c thc hien nh phan mem. V vay trong VXL se bao gom cac khau sau:
Khau I: khau tch phan
Ham truyen:
Khau KCS: khau khuech ai cong suat
Gia s cong suat cc ai cua mach ong m van la P
Khau Fuzzy:Bc 1. nh ngha cac bien vao ra:
Ta goi nhiet o can on nh la to. Gia s nhiet o moi trng can ieu khien thay oi trong khoang (to - k, to + k).
Sai lech gia nhiet o can ieu khien y1 va tn hieu chu ao x1.(Ky hieu la et):
( et ( (-k, k) oC.
Chon k=20 ( et ( (-20, 20) oC.
Goi vo la lu toc dong nc ra can gi on nh . Gia s lu toc can ieu khien thay oi trong khoang (vo - V, vo + V). (kg/s)
Sai lech gia lu toc can ieu khien y2 va tn hieu chu ao x2.(Ky hieu la ev):
( ev ( (-V, V) kg/s.
Chon V=1 ( ev ( (-1, 1) kg/s
ai lng nga vao cua bo ieu khien m la tn hieu sai lech van toc ev va tn hieu sai lech nhiet o et.
e he thong at c o chnh xac cao (sai lech tnh bang 0) ta them vao khau tch phan pha sau khoi m. Va do o tn hieu ngo ra cua bo ieu khien m la toc o bien oi cong suat dp1 tng ng vi toc o ong m van nc nong va dp2 tng ng toc o ong m van nc lanh.
Gia s dp1( (-p, p) kW/s. dp2 ( (-p, p) kW/s.
Chon p = 1 ( dp1, dp2 ( (-1, 1) kw/s.
Bc 2. Chon so lng tap m:
Ta chon 3 gia tr cho cac bien ngo vao
oi vi et: Cold, Good, Hot.
oi vi ev: Soft, Good, Hard.
Chon 5 gia tr cho cac bien ngo ra: CloseFast, CloseSlow, Steady, OpenSlow, OpenFast.
Bc 3. Xac nh ham lien thuoc:
Ta chon tap m co hnh thang va hnh tam giac can:
Bc 4. Xay dng cac luat ieu khien:
Ri rac hoa ham lien thuoc:
oi vi bien vao sai lech nhiet o et (temp):
(cold=trapmf [30 30 15 0]
(good=trimf [10 0 10]
(hot=trapmf [0 15 30 30]
oi vi bien vao sai lech lu toc ev (flow):
(soft=trapmf [3 3 0.8 0]
(good=trimf [0.4 0 0.4]
(hard=trapmf [0 0.8 3 3]
oi vi bien ra toc o ong m van nc lanh va nong:
(CloseFast=trimf [1 0.6 0.3]
(CloseSlow=trimf [ 0.6 0.3 0]
(Steady=trimf [0.3 0 0.3]
(OpenSlow=trimf [0 0.3 0.6]
(OpenFast=trimf [0.3 0.6 1]
oi vi bien ra th nhat:
at ev=y ; et = x ; dp1 = z
o thoa man cua luat th k:
Hkij = Min((k(xi), (k(yj)) i = -20 20 ; j= -1 1
Mo hnh cho luat ieu khien:
Rk = (rkl,i,j)3 ; l = -1 1
rkl,i,j = MIN(Hki,j, (k(zl))
Mo hnh luat ieu khien th kR =
R = (max (rkl (i, j))3 ;k = 0 8
Mo hnh luat ieu khien chung
oi vi bien ra th hai
Tng t nh bien th nhat
Bc 5. Giai m:
Dung phng phap trong tam
oi tng can ieu khien:
Goi to la nhiet o nga ra
vo la van toc dong chay nga ra
Tn la nhiet o dong nc nong
Tl la nhiet o dong nc lanh
vn la van toc dong nc nong
vl la van toc dong nc lanh
Ta co moi quan he sau:
Vay mo hnh toan hoc cua he la:
Chon thi gian lay mau T = 1s, cac he so khuech ai K1, K2 bang 1.
Bieu dien mo hnh vi cac bien di dang vector.
at X = (x1, x2), Y = (y1, y2)Mo hnh tr thanh:
Vi g(u) la quan he vao ra cua khau KCS.
f(u) la quan he vao ra cua khau oi tng.
III. Mo phong tren MatLab:
1. Cac cong cu ve Fuzzy trong MatLab:
FIS Editor la mot chng trnh tao lap bo ieu khien m c ban, trong o co ca chng trnh tao lap ham lien thuoc, chng trnh soan thao ham lien thuoc,
a. FIS Editor:
FIS Editor cho phep xac nh so au vao, so au ra, at ten cac bien vao, cac bien ra.
FIS Editor c goi khi anh dong lenh Fuzzy t dau nhac cua MatLab. Man hnh sau se c hien th:
b. Thiet ke khau Fuzzy:
Theo yeu cau cua mo hnh, ta thiet ke bo ieu khien m co hai ngo vao va hai ngo ra. Cac bien ngo vao la Flow va Temp, cac bien ngo ra la Cold va Hot.
T menu Edit, chon Add Input roi chon Add Output. Nhap vao hnh input1, input2, output1, output2 e sa ten trong o Name tng ng.
Nhap kep vao hnh temp e tao lap cac ham lien thuoc cho bien vao temp.
Trong o Range nhap vao mien xac nh cua bien. Vao menu Edit e them cac ham lien thuoc. Co cac loai ham lien thuoc nh sau:
Trong o Type, chon ham lien thuoc hnh thang (trapmf) cho ham cold va hot, va chon ham lien thuoc hnh tam giac can (trimf) cho ham good.
O Param dung e nhap thong so cho tng ham khi nhap vao ham. O Name dung e at ten cho ham.
Lam tng t nh vay oi vi bien flow.
oi vi hai bien ra la cold va hot, chon cac ham lien thuoc la hnh tam giac.
Tr lai trong FIS Editor, trong phan Defuzzification chon phng phap giai m. Co cac phng phap giai m nh:
S dung Rule Editor e tao bang luat ieu khien cho bo ieu khien m. T menu View, chon Edit Rules e kch hoat Rule Editor.
e kiem tra lai hoat ong cua bo ieu khien m, ta vao menu View, chon View Rules.
Tai o Input, ta co the nhap cac gia tr cua bien nga vao e quan sat cac gia tr cua bien nga ra.
e xem luat ieu khien trong khong gian, chon View Surface trong menu View. Tai Listbox Z(output) co the chon cold hay hot e quan sat.
2. Mo phong trong Simulink:
Tai dau nhac cua MatLab, go simulink e kch hoat man hnh lam viec cua Simulink.
Da vao mo hnh toan hoc ta vao th vien lay cac khoi tch phan, khuech ai cong suat, may phat tn hieu th, scope e hien th ket qua.
Trong th vien simulink m th vien Blocksets & Toolboxes.
M SIMULINK Fuzzy ta co cac thanh phan sau:
Trong SIMULINK Fuzzy, ta lay Fuzzy Logic Controller.
Tr lai th vien simulink, lan lt m cac th vien Sources, Sink va Linear e lay cac thanh phan nh: Constant, Signal Generator, Scope, Sum,
Thiet ke van nc lanh:
Van nc gom mot bien nga vao la toc o ong/m van, hai bien nga ra la nhiet o va toc o cua dong nc.
Nhiet o cua dong nc lanh la 10oC.
Ngo vao toc o ong/m van sau khi qua khau tch phan roi c qua khau khuech ai bao hoa.
Ham f(u) cua khau bao hoa c xac nh theo cong thc:
k.u(1).(k.u(1)(u(2)) + u(2).(k.u(1)>u(2))
Vi k.u(1) la tn hieu ra sau khau tch phan,
u(2) toc o cc ai cua van.
+ Khi k.u(1) ( u(2) th nga ra la k.u(1),
+ Khi k.u(1) > u(2) th nga ra la u(2).
Thiet ke van nc nong:Tng t nh oi vi van nc lanh. Nhiet o cua dong nc nong la 30oC.
Thiet ke khau lu toc at trc:
Khau bao gom toc o at trc va may phat tn hieu th.
Thiet ke khau nhiet o at trc:
Khau bao gom nhiet o at trc va may phat tn hieu th.
Thiet ke ham oi tng:
Ham lu toc:
u(1)+u(3)
Vi u(1) la toc o cua dong nc nong.
u(3) la toc o cua dong nc lanh.
Ham nhiet o:
Vi u(1) la toc o cua dong nc nong.
u(2) la nhiet o cua dong nc nong.
u(3) la toc o cua dong nc lanh.
u(4) la nhiet o cua dong nc lanh.
IV. Ket qua mo phong:
Mo phong vi nhiet o at trc la 23oC. Lu toc at trc la 0.7m3/h.
+ oi vi tn hieu th co s bien thien la ham xung vuong co tan so lafs1 = 0.3rad/s, bien o la 0.2m3/h oi vi toc o dong nc ra va fs2 = 0.2rad/s, bien o la 4oC oi vi nhiet o cua dong nc ra. Ta co cac ap ng sau:
+ oi vi tn hieu th co s bien thien la ham sin co tan so la fs1 = 0.3rad/s, bien o la 0.2m3/h oi vi toc o dong nc ra va fs2 = 0.2rad/s, bien o la 4oC oi vi nhiet o cua dong nc ra. Ta co cac ap ng sau:
Chng IV
Ket luan e ngh
Trai qua 10 tuan thc hien e tai, chung em a trnh bay c phan ly thuyet c ban cua logic m, cach ng dung logic m trong ieu khien va a rut ra c nhng u nhc iem cua ky thuat ieu khien m so vi cac ky thuat ieu khien co ien trc ay.
Them vao o, chung em a mo phong he thong ieu khien m bang phan mem MatLab e t o co the quan sat c ap ng hay chat lng cua he thong.
Hng phat trien cua e tai: Xay dng mo hnh mau e co the quan sat va kiem tra lai ly thuyet bang thc nghiem.
PHAN C
PHU LUC
CAU TRUC FILE .FIS (Fuzzy Inference System)
Cau truc cua file .FIS c tao bi FIS Editor bao gom cac phan sau:
1. [System]
Name = : khai bao ten, c at trong dau nhay.Type = : khai bao loai, c at trong dau nhay.
NumInputs = : so lng nga vao, la mot so nguyen.NumOutputs = : so lng nga ra, la mot so nguyen.
NumRules = : so lng luat ieu khien, la mot so nguyen.
AndMethod = : ten phng phap AND.
+ cac phng phap c s dung la: min va prod.OrMethod = : ten phng phap OR.
+ cac phng phap c s dung la: max va probor.ImpMethod = : ten phng phap keo theo.
+ cac phng phap c s dung la: min va prod.AggMethod = : ten phng phap tap hp.
+ cac phng phap c s dung la: max, sum va probor.DefuzzMethod = : ten phng phap giai m.
+ cac phng phap c s dung la: centroid, bisector, mom, lom va som.2.[Input1]
Name = : ten cua nga vao, c at trong dau nhay.
Range = : gii han di va tren cua bien vao c at trong ngoac vuong.
NumMFs = : so lng ham lien thuoc, la mot so nguyen.
MF1=: khai bao d lieu ve ham lien thuoc, bao au bang ten ham c at trong dau nhay, theo sau bi dau hai cham va ten loai ham lien thuoc, ke tiep la dau phay va cac thong so cua ham c at trong ngoac vuong.
C nh vay cho en MFn, vi n la so lng ham lien thuoc.
Co bao nhieu nga vao th lan lt khai bao cac d lieu cho cac nga vao [Inputi], vi i la so th t cua nga vao.
3.[Output1]
Name = : ten cua nga ra, c at trong dau nhay.Range = : gii han di va tren cua bien ra c at trong ngoac vuong.MF1=: khai bao d lieu ve ham lien thuoc, bao au bang ten ham c at trong dau nhay, theo sau bi dau hai cham va ten loai ham lien thuoc, ke tiep la dau phay va cac thong so cua ham c at trong ngoac vuong.
C nh vay cho en MFn, vi n la so lng ham lien thuoc.
Co bao nhieu nga ra th lan lt khai bao cac d lieu cho cac nga ra [Outputi], vi i la so th t cua nga ra.
* Cac loai ham lien thuoc co the chon la:trimf: co 3 thong so.
trapmf: co 4 thong so.
gbellmf: co 4 thong so.
gaussmf: co 2 thong so.
gauss2mf: co 4 thong so.
sigmf: co 2 thong so.
dsigmf: co 4 thong so.
psigmf: co 4 thong so.
pimf: co 4 thong so.
smf: co 2 thong so.
zmf: co 2 thong so.
4.[Rules]
Mo ta bang luat ieu khien di dang ma tran, khai bao luat ieu khien theo cau truc sau:
Hang, cot, luat_ieu_khien_ nga_ra_1 (luat_ieu_khien_ nga_ra_2)
Hang ke tiep vi cot c tang len 1, c nh vay cho en cot cuoi cung, tiep theo hang c tang len 1, c nh vay cho en luat ieu khien cuoi cung.
LIET KE FILE SHOWER.FIS
% $Revision: 1.1 $
[System]
Name = 'shower'
Type = 'mamdani'
NumInputs = 2
NumOutputs = 2
NumRules = 9
AndMethod = 'min'
OrMethod = 'max'
ImpMethod = 'min'
AggMethod = 'max'
DefuzzMethod = 'centroid'
[Input1]
Name = 'temp'
Range = [-20 20]
NumMFs = 3
MF1='cold':'trapmf',[-30 -30 -15 0]
MF2='good':'trimf',[-10 0 10 0]
MF3='hot':'trapmf',[0 15 30 30]
[Input2]
Name = 'flow'
Range = [-1 1]
NumMFs = 3
MF1='soft':'trapmf',[-3 -3 -0.8 0]
MF2='good':'trimf',[-0.4 0 0.4 0]
MF3='hard':'trapmf',[0 0.8 3 3]
[Output1]
Name = 'cold'
Range = [-1 1]
NumMFs = 5
MF1='closeFast':'trimf',[-1 -0.6 -0.3 0]
MF2='closeSlow':'trimf',[-0.6 -0.3 0 0]
MF3='steady':'trimf',[-0.3 0 0.3 0]
MF4='openSlow':'trimf',[0 0.3 0.6 0]
MF5='openFast':'trimf',[0.3 0.6 1 0]
[Output2]
Name = 'hot'
Range = [-1 1]
NumMFs = 5
MF1='closeFast':'trimf',[-1 -0.6 -0.3 0]
MF2='closeSlow':'trimf',[-0.6 -0.3 0 0]
MF3='steady':'trimf',[-0.3 0 0.3 0]
MF4='openSlow':'trimf',[0 0.3 0.6 0]
MF5='openFast':'trimf',[0.3 0.6 1 0]
[Rules]
1 1, 4 5 (1) : 1
1 2, 2 4 (1) : 1
1 3, 1 2 (1) : 1
2 1, 4 4 (1) : 1
2 2, 3 3 (1) : 1
2 3, 2 2 (1) : 1
3 1, 5 4 (1) : 1
3 2, 4 2 (1) : 1
3 3, 2 1 (1) : 1
TAI LIEU THAM KHAO
1. Tran Sum,
Giao trnh: Ly thuyet ieu khien t ong, H SPKT, 1998.
2. Nguyen Th Phng Ha,
ieu khien t ong, NXB KHKT, 1996.
3. Phan Xuan Minh Nguyen Doan Phc,
Ly thuyet ieu khien m, NXB KHKT, 1997.
4. Timothy J.Ross,
Fuzzy Logic With Engineering Applications, McGraw-Hill, 1998.
5. Kazuo Tanaka,
An Introduction to fuzzy logic for practical applications, Spinger, 1996
6. MatLab,
The Student Edition of MatLab version 4 Users Guide, Prentice Hall.
7. Charles L.Phillips and HTroy Nagle, JR,
Digital Control System Analysis and Design, Prentice Hall, 1984.
Ham lien thuoc (F(x) co mc chuyen oi tuyen tnh.
m1
(F(x)
m2
m3
m4
x
1
0
Mien xac nh va mien tin cay cua mot tap m.
(F(x)
x
1
0
Mien tin cay
Mien xac nh
Ham lien thuoc cua hp hai tap m co cung c s.
(
x
(A(x)
(B(x)
(A(x)
x
(B(y)
y
x
(A(x, y)
y
M ( N
x
(B(x, y)
y
M ( N
M ( N
x
(A(B(x, y)
y
Phep hp hai tap m khong cung c s:
a) Ham lien thuoc cua hai tap m A, B.
b) a hai tap m ve chung mot c s M ( N.
c) Hp hai tap m tren c s M ( N.
Giao hai tap m cung c s.
x
(A(B(x)
(A(x)
(B(x)
Phep giao hai tap m khong cung c s.
M ( N
x
(A(B(x, y)
y
x
1
(A(x)
a)
x
1
(Ac(x)
b)
Tap bu AC cua tap m A.
a) Ham lien thuoc cua tap m A.
b) Ham lien thuoc cua tap m AC.
Giai m bang phng phap cc ai.
(B
B1
B2
y
y1
y2
H
Gia tr ro y khong phu thuoc vao ap ng vao cua luat ieu khien quyet nh.
y
(B
B1
B2
y
H
Gia tr ro y phu thuoc tuyen tnh vi ap ng vao cua luat ieu khien quyet nh
y
(B
B1
B2
y
H
Gia tr ro y phu thuoc tuyen tnh vi ap ng vao cua luat ieu khien quyet nh
y
(B
B1
B2
y
H
Gia tr ro y la hoanh o cua iem trong tam.
B1
B2
y
(B
y
S
TBK
TK
TBL
R
F
N
C
U
TBK
TK
C
U
TBK
TK
C
U
R
C
(-)
(
(-)
TBK
TK
C
U
R
C
(
(+)
N
TBKA
TBKC
TK
C
U
R
N
G(p)
TM
C(p)
R(p)
G(p)
H(p)
C(p)
R(p)
K
u(t)
G(p)
H(p)
C(t)
r(t)
e(t)
f(t)
-
K
u(t)
G(p)
Td p
C(t)
r(t)
e(t)
H(p)
+
+
-
K
u(t)
G(p)
Ki p
C(t)
r(t)
e(t)
H(p)
+
+
-
K
u(t)
G(p)
Td p
C(t)
r(t)
e(t)
H(p)
+
+
Ki p
+
x1
xq
...
(
...
R1: NEU ... TH ...
Rq: NEU ... TH ...
...
H1
Hq
B
y
Bo ieu khien m c ban.
Bo ieu khien m c ban
EMBED Equation.3
EMBED Equation.3
x(t)
y(t)
Bo ieu khien m ong.
Bo ieu khien m
Fuzzy hoa
Giai m
B
x0
(
R1: NEU ... TH
...
Rq: NEU ... TH
y
Cau truc ben trong cua mot bo ieu khien m.
Bo ieu khien m 1
Bo ieu khien m 2
Bo ieu khien m 3
y1
y2
y3
x1
...
x4
Bo ieu khien m vi 4 au vao va 3 au ra.
x
(B(x)
y
Tch cua hai anh xa
BO
IEU KHIEN
dong nc ra
dong nc nong
dong nc lanh
bon nc
K
K
K
K
VXL
dong nc ra
dong nc nong
dong nc lanh
bon nc
A/D
D/A
BO IEU KHIEN
cam bien nhiet
cam bien lu toc
T
FUZZY
I
Tn hieu ieu khien
-
+
K
Ui
Uo
(0(1(2flow tempColdGoodHot(0SoftOpenSlowOpenSlowOpenFast(1GoodCloseSlowSteadyOpenSlow(2HardCloseFastCloseSlowCloseSlowBang luat ieu khien cho bien ra Cold
(0(1(2flow tempColdGoodHot(0SoftOpenFastOpenSlowOpenSlow(1GoodOpenSlowSteadyCloseSlow(2HardCloseSlowCloseSlowCloseFastBang luat ieu khien cho bien ra Hot
i
j
l
1
1
20
x
z
Rk
rlk(i ,j)
rlk(i, j) = MIN((k(xi), (k(yj), (k(zl))
i
j
l
1
1
20
x
z
R
rl(i, j)
rl(i, j) = max rlk(i, j)
0 ( k ( 8
FUZZY
T
T
EMBED Equation.3 T
EMBED Equation.3 T
KCS
KCS
OI
TNG
K1
K2
+
+
-
-
x1
x2
y1
y2
T = 1s
T = 1s
FUZZY
EMBED Equation.3
g(u)
f(u)
X
Y
+
-
EMBED MSPhotoEd.3
Th vien simulink
Th vien Blockset va Toolbox
Th vien SIMULINK Fuzzy
Th vien Linear
Th vien Sources
Th vien Sinks
S o he thong ieu khien
ap ng cua lu toc
tn hieu th
ap ng ra
ap ng ra
tn hieu th
ap ng cua nhiet o
ap ng ra
tn hieu th
ap ng cua lu toc
ap ng ra
tn hieu th
ap ng cua nhiet o
Nghien cu ieu khien m Mo phong he thong ieu khien m bang MatLab
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