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He Mo Va Noron0001 4961
He Mo Va Noron0001 4961
LI KHC LI
H M & NRON
TRONG K THUT IU KHIN
Sch Chuyn kho dng cho o to Sau i hc ngnh iu khin & T ng ho
MC LC
LI NI U.................................................................................................. 6
Chng 1: LGIC M..................................................................................... 1
1.1. TNG QUAN V LGIC M............................................................. 1
1.1.1. Qu trnh pht trin ca 1gic m .................................................. 1
1.1.2. C s ton hc ca 1gic m.......................................................... 1
1.1.3. Lgic m l 1gic ca con ngi ................................................... 2
1.2. KHI NIM V TP M.................................................................... 3
1.2.1. Tp kinh in .................................................................................. 3
1.2.3. Cc thng s c trng cho tp m ................................................ 4
1.2.4. Cc dng hm lin thuc ca tp m .............................................. 5
1.3. CC PHP TON TRN TP M..................................................... 5
1.3.1. Php hp hai tp m ....................................................................... 5
1.3.2. Php giao ca hai tp m ................................................................ 6
1.3.3. Php b ca mt tp m ................................................................. 8
1.4. BIN NGN NG V GI TR CA BIN NGN NG ............... 8
1.5. LUT HP THNH M ..................................................................... 9
1.5.1. Mnh hp thnh ......................................................................... 9
1.5.2. M t mnh hp thnh ............................................................... 9
1.5.3. Lut hp thnh m........................................................................ 10
1.5.4. Cc cu trc c bn ca lut hp thnh ........................................ 11
1.5.5. Lut hp thnh n c cu trc SISO........................................... 12
1.5.7. Lut ca nhiu mnh hp thnh............................................... 19
1.5.7. Lut hp thnh SUM-MIN v SUM-PROD................................. 22
1.6. GII M ............................................................................................. 23
2.6.1. Phng php cc i .................................................................... 24
Chng 2: IU KHIN M........................................................................ 29
2.1. CU TRC CA B IU KHIN M.......................................... 29
2.1.1. S khi b iu khin m........................................................ 29
2.1.2. Phn loi b iu khin m .......................................................... 30
2.1.3. Cc bc tng hp b iu khin m........................................... 31
2.2. B IU KHIN M TNH.............................................................. 32
LI NI U
Ngy nay, cc h thng m v mng n ron ngy cng c ng dng
rng ri trong nhiu lnh vc ca i sng x hi. c bit, trong lnh vc
iu khin v t ng ho, h m v mng n ron ngy cng chim u th v
mang li nhiu li ch to ln. Vi u im c bn l c th x l vi
chnh xc cao nhng thng tin "khng chnh xc" h m v mng nron l c
s ca h "iu khin thng minh" v "tr tu nhn to".
p ng nhu cu tm hiu v ng dng lgic m v mng n ron ca
ng o bn c, c s c v v ng vin ca BGH trng i hc K
thut Cng nghip, chng ti mnh dn vit cun sch "H m v nron
trong k thut iu khin".
Cun sch c vit da trn cc bi ging v h thng iu khin thng
minh cho hc vin cao hc ngnh T ng ho trng i hc K thut
Cng nghip. Cun sch khng phn tch qu su nhng vn l thuyt
phc tp m ch cung cp cho bn c nhng ni dung rt c bn v H m,
mng n ron nhn to v h M-nron. Mc tiu cao hn l gip bn c bit
cch khai thc nhng cng c sn c ca phn mm MATLAB phn tch,
thit k cc b iu khin m, nron nhm iu khin cc i tng trong
cng nghip. Mi phn u c cc v d c th hng dn thit k.
Cun sch l ti liu tham kho cho hc vin cao hc, sinh vin ngnh
iu khin, cc k s ngnh in, Cng ngh thng tin v cc nghin cu
sinh quan tm n lnh vc iu khin m v mng nron.
Trong qu trnh bin son, khng trnh khi cn nhiu sai st. Chng ti
mong nhn c s ng gp kin cc ca ng nghip v bn c gn, xa.
Xin chn thnh cm n!
Thi Nguyn, ngy 01 thng 12 nm 2006
Cc tc gi
Chng 1
LGIC M
1.1. TNG QUAN V LGIC M
1.1.1. Qu trnh pht trin ca 1gic m
T nm 1965 ra i mt l thuyt mi l l thuyt tp m (Fuzzy
set theory) o gio s Lofti A. Zadeh trng i hc Califonia - M a ra.
T khi l thuyt ra i n c pht trin mnh m qua cc cng trnh
khoa hc ca cc nh khoa hc nh: Nm 1972 GS Terano v Asai thit lp
ra c s nghin cu h thng iu khin m Nht, nm 1980 hng Smith
Co. bt u nghin cu iu khin m cho l hi... Nhng nm u thp k
90 cho n nay h thng iu khin m v mng nron (Fuzzy system and
neural network) c cc nh khoa hc, cc k s v sinh vin trong mi lnh
vc khoa hc k thut c bit quan tm v ng dng trong sn xut v i
sng. Tp m v lgic m da trn cc thng tin "khng y , v i
tng iu khin y v i tng mt cch chnh xc.
Cc cng ty ca Nht bt u dng lgic m vo k thut iu khin t
nm 1980. Nhng do cc phn cng chun tnh ton theo gii thut 1gic m
rt km nn hu ht cc ng dng u dng cc phn cng chuyn v lgic
m. Mt trong nhng ng dng dng lgic m u tin ti y l nh my x
l nc ca Fuji Electric vo nm 1983, h thng xe in ngm ca Hitachi
vo nm 1987.
1.1.2. C s ton hc ca 1gic m
Lgic m v xc xut thng k u ni v s khng chn chn. Tuy
nhin mi lnh vc nh ngha mt khi nim khc nhau v i tng.
Trong xc sut thng k s khng chc chn lin quan n s xut hin
ca mt s kin chc chn" no .
V d: Xc sut vin n trng ch l 0,
Bn thn ca s kin "trng ch" c nh ngha r rng, s khng
1
Mt tp m c t nht mt
phn t c ph thuc bng 1
c gi l tp m chnh tc (H =
1). Ngc li, mt tp m B vi H
< 1 gi l tp m khng chnh tc.
+ Min xc nh ca tp m B (nh ngha trn c s M) c k hiu
bi S l tp con ca M c gi tr hm lin thuc khc khng:
4
T= {x M| B(X) = 1}.
1.2.4. Cc dng hm lin thuc ca tp m
a/ Hp ca hai lp m c cng c s
3. A B(x) =
4. A B(x) =
Xt mnh hp thnh: nu = A th - B; T mt gi tr x0 c ph
thuc A(x0) i vi tp m A ca mnh iu kin, ta xc nh c
tho mn mnh kt lun. Biu din tho mn ca mnh kt lun nh
mt tp m B cng c s vi B th mnh hp thnh chnh l nh x:
A(x0) B(y).
nh x ny ch ra rng mnh hp thnh l mt tp m mi phn t l
mt gi tr (A(x0), B(y)) tc l mi phn t l mt tp m. M t mnh
hp thnh tc l m t nh x trn. nh x (A(x0), B(y)) c gi l hm
lin thuc ca lut hp thnh. xy dng B(y) c rt nhiu kin khc
nhau. Trong k thut iu khin ta thng s dng nguyn tc ca Mamdani
" ph thuc ca kt lun khng c ln hn ph thuc ca iu
kin"? T nguyn tc ta c hai cng thc xc nh hm lin thuc cho
mnh hp thnh A => B:
1. cng thc MIN: A=>B(x, y) = MIN{A(x), B(y)}
2. cng thc PROD: A=>B(x, y) = A(x)B(xy
1.5.3. Lut hp thnh m