Bi m u: Nhng khi nim, nh ngha v c tnh c bn ca h thng iu khin t ng. 1. Cc khi nim v nh ngha c bn.

Da trn thnh tu ca mt s ngnh khoa hc nghin cu cc qu trnh iu khin trong cc lnh vc khc nhau nh: khoa hc k thut, sinh vt hc, kinh t x hi, hnh thnh iu khin hc. iu khin hc (Cybernetics): l khoa hc nghin cu nhng qu trnh iu khin v truyn thng trong my mc, sinh vt v kinh t. iu khin hc mang c trng tng qut v c phn chia thnh nhiu lnh vc khc nhau nh: ton iu khin, iu khin hc k thut, iu khin hc sinh vt (bionic), iu khin hc kinh t. Trong iu khin hc, i tng iu khin c th l cc c ch sinh vt, cc phn t thit b, cc h thng k thut, kinh t . Nh vy iu khin hc l mt ngnh khoa hc iu khin mang tnh tng qut. iu khin hc nghin cu qu trnh iu khin cc i tng k thut c gi l iu khin hc k thut. L thuyt iu khin t ng c xt y chnh l c s l thuyt ca iu khin hc k thut. iu khin t ng l thut ng ch qu trnh iu khin mt i tng trong k thut m khng c s tham gia ca con ngi (automatic), n ngc li vi qu trnh iu khin bng tay (manual). iu khin t ng l s t ng tc ng ln mt s i tng duy tr hoc ci thin s lm vic ca i tng theo mt mc ch iu khin nht nh. H thng iu khin t ng: Mt h thng iu khin t ng bao gm ba phn ch yu: Thit b iu khin (TBK), i tng iu khin (TK), v thit b o lng (TBL). Hnh 1 m t s khi tng qut ca h thng iu khin. N

TBK F

TK

TBL

Hnh 1. S khi tng qut h thng iu khin t ng. Trong hnh v: - C l tp hp cc tn hiu cn iu khin, thng c gi l tn hiu ra. - U l tp hp cc tn hiu iu khin i tng, thng gi l tn hiu iu khin. - R l tp hp cc tn hiu ch o t vo h thng, thng c gi l tn hiu vo. - N l tp hp cc tn hiu nhiu tc ng t ngoi mi trng vo h thng. - F l tn hiu phn hi. 1

Hai tn hiu R v N thng c gi chung l tc ng vo h thng. H thng iu khin h l h thng iu khin m khu o lng khng c dng n. Mi s thay i ca tn hiu ra s khng c phn nh v thit b iu khin. H thng iu khin vng kn l h thng iu khin c phn hi, ngha l tn hiu ra c o lng v a v thit b iu khin. Tn hiu hi tip s phi hp vi tn hiu vo to ra tn hiu iu khin. C s l thuyt nghin cu h thng kn chnh l l thuyt iu khin t ng. 2. Cc nguyn tc xy dng v phn loi cc h thng iu khin t ng. 2.1. Cc nguyn tc iu khin t ng. C ba nguyn tc iu khin c bn l: nguyn tc gi n nh, nguyn tc iu khin chng trnh v nguyn tc t chnh nh. 2.1.1. Nguyn tc gi n nh. C 3 nguyn tc iu khin gi n nh: nguyn tc b tc ng bn ngoi, nguyn tc iu khin sai lnh v nguyn tc iu khin hn hp. a) Nguyn tc b tc ng bn ngoi. N

TBK

TK

Hnh 2. Nguyn tc b tc ng bn ngoi Nguyn tc b tc ng bn ngoi biu din trn hnh 2, trong nguyn tc ny, tn hiu tc ng bn ngoi ln i tng iu khin c th kim tra v o lng c. Nu c tnh ca i tng G(s) c xc nh trc th tn hiu iu khin U c th xc nh theo tc ng bn ngoi N sao cho ng ra C = Co = Const, vi Co l gi tr tn hiu ra cn gi n nh. U = Gc*Co/[G(Gc+1)] vi Gc l hm truyn ca thit b iu khin. Loi h thng ny cho php gi ng ra khng i v khng ph thuc vo tc ng bn ngoi N, h thng ny cn c gi l h thng bt bin. b) Nguyn tc iu khin theo sai lch. N R -Y Hnh 3. Nguyn tc iu khin sai lch. 2

TBK

TK

Khi tc ng bn ngoi khng kim tra v o lng c, cn c tnh ca i tng khng xc nh c mt cch y , th nguyn tc iu khin b tc ng bn ngoi khng cho php gi n nh c tn hiu iu khin ra C. Khi cn phi thc hin nguyn tc iu khin theo sai lnh. S khi nguyn tc ny biu din trn hnh 1.3. i vi h thng ny tn hiu ra C c phn hi v u vo v phi hp vi tn hiu u vo R (thng C v R c tc ng ngc nhau to ra phn hi m) sinh ra sai lnh TBK. Qu trnh iu khin s kt thc cho ti khi sai lch trit tiu khi tn hiu ra C = R = Co cho trc. Loi h thng thc hin theo nguyn tc iu khin sai lch khng c c tnh bt bin tuyt i, ngha l khng gi c tn hiu ra C n nh tuyt i bng gi tr Co cho trc m vn c mt sai lnh no . c) Nguyn tc iu khin hn hp. to ra cc h thng bt bin tuyt i, tc l tn hiu ra C khng ph thuc vo tc ng bn ngoi, thng ngi ta s dng phng php iu khin hn hp bao gm c nguyn tc iu khin sai lch v nguyn tc b tc ng bn ngoi. S khi biu din cho nguyn tc ny trn hnh 1.4 N R -Y Hnh 4. Nguyn tc iu khin hn hp. Ba nguyn tc iu khin trnh by trn c s dng gi n nh tn hiu ra C. Tu tng trng hp c th m c th p dng nguyn tc no cho ph hp. Tuy nhin i vi cc h thng iu khin theo nguyn tc chng trnh v nguyn tc t chnh nh, c th thc hin c ba nguyn tc iu khin trn trong cng mt h thng. 2.1.2. Nguyn tc iu khin chng trnh. Nguyn tc iu khin chng trnh c th p dng cho c cc h thng h v h thng kn. Nguyn tc iu khin chng trnh da vo yu cu ca tn hiu ra C phi bin i theo thi gian theo mt chng trnh no , chng hn C(t) = Co(t). Da vo m t ton hc ca i tng, c th xc nh c tn hiu iu khin U(t) = Uo(t). Nu thit b iu khin thc hin c chng trnh to ra U(t) = Uo(t) th yu cu ca bi ton iu khin chng trnh c gii quyt. m bo chnh xc cao trong qu trnh iu khin theo chng trnh ngi ta thng s dng h thng kn vi c ba nguyn tc gi n nh nh trnh by trn. Nguyn tc iu khin gi n nh tn hiu ra c th xem l mt trng hp ring ca nguyn tc iu khin chng trnh nu Co(t) = const. 3

TBK

TK

2.1.3. Nguyn tc iu khin t chnh nh. Do thc t cn iu khin cc i tng phc tp hoc nhiu i tng ng thi m nguyn tc iu khin chng trnh khng s dng c. Vi yu cu iu khin i tng cho mt tn hiu no t c gi tr cc tr, hoc m bo mt ch tiu ti u no , hoc bt bin vi bt k tc ng no ln i tng , cn phi s dng nguyn tc t chnh nh. Cc h thng iu khin theo nguyn tc t chnh nh thng c gi l h thng t chnh nh hay h thng thch nghi. S khi biu din nguyn tc iu khin thch nghi trnh by trn hnh 1.5. H thng cng bao gm hai phn chnh: i tng iu khin (TK) v thit b iu khin (TBK). H thng thch nghi l mt h thng nhiu vng, trong mch vng c bn l TK v thit b iu khin c bn (TBKC). Mch vng c bn chnh l mt h thng iu khin thng thng khng thch nghi. Thit b iu khin thch nghi (TBKA) dng iu khin thit b iu khin c bn (TBKC). C ngha l bin i thng s v cu trc ca TBKC thch ng vi mi bin i ca mi trng ngoi tc ng vo i tng. thc hin c iu kin thch nghi TBKA va m nhn vai tr iu khin va c chc nng mt khi tnh ton, x l cc tn hiu vo R, U, C, N. Hin nay cc thit b iu khin thch nghi thng l mt my vi tnh m nhn chc nng tnh ton, ghi nhn d liu v iu khin.

TBKA R

TBKC TBK

TK

Hnh 5. H thng iu khin thch nghi (t chnh nh). 2.2. Phn loi cc h thng iu khin t ng. Vic phn loi h thng iu khin c nhiu phng php tu thuc vo c im ca h thng. Sau y s l mt s phng php phn loi c bn. a) Phn loi theo c im tn hiu vo. - H thng n nh tn hiu ra : C = Co = const - H thng chng trnh:C = C(t) - H thng theo di (h thng tu ng): Tt c cc tn hiu tc dng vo h thng l theo cc hm thi gian khng bit trc. 4

b) Phn loi theo s vng kn. H mt vng. H nhiu vng. c) Phn loi theo tnh cht bin i ca thng s. H thng dng: l h thng m tt c cc thng s ca n khng bin i theo thi gian. H thng khng dng: l h thng m trong ch cn c mt h s bin i theo thi gian. d) Phn loi theo c im thch nghi vi mi trng. H thng khng thch nghi: l h thng t ng thng thng, khi c s bin ng ca mi trng tc ng vo i tng s lm cho c tnh ca i tng bin i. H thng thch nghi: l h thng thc hin theo nguyn tc t chnh nh xt trn. e) Phn loi theo c im m t ton hc ca h thng. H thng lin tc: l h thng m tt c cc tn hiu (tng qut l cc tin tc) truyn t v tr ny sang v tr khc l cc hm lin tc theo thi gian. H thng gin on: l h thng m trong ch cn mt tn hiu biu din bng mt hm gin on theo thi gian. H thng tuyn tnh: l h thng m c tnh tnh ca tt c cc phn t c trong l tuyn tnh. Phng trnh trng thi m t cho h thng tuyn tnh l cc phng trnh tuyn tnh. c im c bn ca cc h thng tuyn tnh l thc hin c nguyn l xp chng, c th nu h thng c nhiu tc ng vo tc dng ng thi, th c th xt u ra ca n l tng ca cc tc ng ring r vo h thng. H thng phi tuyn: l h thng m trong ch cn c mt c tnh tnh ca mt phn t l mt hm phi tuyn. Phng trnh trng thi m t cho h thng l cc phng trnh phi tuyn. c im ca h thng phi tuyn l khng thc hin c nguyn l xp chng. H thng tuyn tnh ho: thc cht l mt h thng phi tuyn, nhng nh mt phng php tuyn tnh ho cc c tnh phi tuyn, s nhn c mt h thng tuyn tnh ho. Tuyn tnh ho cc c tnh phi tuyn c th thc hin bng nhiu phng php. Ngay c cc h thng c gi l tuyn tnh th thc t vn l cc h thng phi tuyn, nhng do xt cc c tnh tnh phi tuyn m mt cch gn ng c th xem chng l cc h thng c tuyn tnh ho. f) Phn loi theo sai lch tn ti trng thi tnh. H thng c sai tnh: l h thng m khi kt thc qu trnh iu khin, vn cn tn ti mt sai lnh nht nh so vi yu cu. H thng v sai tnh: l h thng m khi kt thc qu trnh iu khin, khng c s sai lnh ca tn hiu ra so vi yu cu. g) Phn loi theo kh nng thu thp tin tc. 5

H thng tin nh: l h thng m cc tc ng vo n l cc hm cho trc theo qui lut no , v c tnh cu trc ca i tng l xc nh. H thng ngu nhin: l h thng m tin tc thu thp c i vi cc tc ng bn ngoi tc dng vo v ca i tng l khng y . H thng ngu nhin cng c th hiu l trong ch cn c mt tn hiu truyn t m t bng mt hm ngu nhin. h) Phn loi theo nng lng tiu th. H thng in. H thng thu lc. H thng kh nn. H thng hn hp: s dng nhiu dng nng lng khc nhau.

3. Lch s pht trin ca l thuyt iu khin. 3.1. iu khin kinh in. L thuyt iu khin kinh in (trc nm 1960) m t h thng trong min tn s (php bin i Fourier) v mt phng s (php bin i Laplace). Do da trn cc bin i ny, l thuyt iu khin kinh in ch yu p dng cho cc h tuyn tnh bt bin theo thi gian, mc d c vi m rng p dng cho cc h phi tuyn (v d nh phng php hm m t). L thuyt iu khin kinh in thch hp thit k cc h thng mt ng vo - mt ng ra (SISO single input/single output), rt kh p dng cho cc h thng nhiu ng vo nhiu ng ra (MIMO multi input/multioutput) v cc h thng bin i theo thi gian. Cc phng php phn tch v thit k h thng trong l thuyt iu khin kinh in bao gm: phng php Nyquist, Bode v qu o nghim s. phn tch thit k h thng dng phng php Nyquist v bode, cn m t h thng di dng p ng tn s (p ng bin v p ng pha), p ng ny c th o c bng thc nghim. Vi phng php qu o nghim s cn m t h thng di dng hm truyn, hm truyn h thng cng c th tnh c t p ng tn s. Hm truyn ca cc h thng phc tp c th xc nh bng cc phng php s khi hoc phng php s tn hiu. i vi phng php iu khin kinh in, khng cn thit phi m t chnh xc c tnh ng hc bn trong h thng, ch c quan h gia ng vo v ng ra l quan trng. Cc khu hiu chnh n gin nh hiu chnh vi tch phn t l PID, hiu chnh sm tr pha, thng c s dng khi thit k cc h thng iu khin theo phng php kinh in. nh hng ca ca cc khu hiu chnh ny ti biu Nyquist, biu Bode v qu o nghim s ca h thng c th thy c d dng, nh c th d dng la chn c khu hiu chnh thch hp. 3.2. iu khin hin i. K thut thit k h thng iu khin hin i da trn min thi gian. M t ton hc dng phn tch v thit k h thng l phng trnh trng thi. M hnh khng gian trng 6

thi c u im l c th m t c c tnh ng hc bn trong h thng (bng cc bin trng thi), v n c th d dng p dng cho cc h thng MIMO cng nh cc h thng bin i theo thi gian. L thuyt iu khin hin i u tin c pht trin ch yu cho h tuyn tnh, sau m rng p dng cho cc h thng phi tuyn nh p dng l thuyt Lyapunov. B iu khin c s dng ch yu trong h thng iu khin hin i l b iu khin hi tip trng thi. Tu theo cch tnh vector hi tip trng thi, m s c cc phng php: phn b cc, iu khin ti u, iu khin bn vng . Vi s pht trin ca l thuyt iu khin s v h thng ri rc, l thuyt iu khin hin i rt thch hp thit k cc b iu khin l cc chng trnh phn mm chy trn vi x l v cc my tnh s. iu ny cho php thc thi c cc b iu khin c c tnh ng hc phc tp hn, cng nh hiu qu hn so vi cc b iu khin n gin trong l thuyt iu khin kinh in. 3.3. iu khin thng minh. iu khin kinh in v iu khin hin i nh m t trn c th gi chung l iu khin thng thng (conventional control), c khuyt im l mun thit k c h thng iu khin cn phi bit m hnh ton ca i tng. Trong khi trong thc t c nhng i tng cn iu khin rt phc tp, rt kh hoc khng th xc nh c m hnh ton. Cc phng php iu khin thng minh nh iu khin m, mng thn kinh nhn to, thut ton di truyn m phng/bt chc cc h thng thng minh sinh hc, v nguyn tc khng cn s dng m hnh ton hc, do chng c kh nng ng dng thc t rt ln. Khuyt im ca iu khin m l qu trnh thit k mang tnh th sai, da vo kinh nghim ca chuyn gia. Nh kt hp logic m vi mng thn kinh nhn to hay thut ton di truyn, m thng s b iu khin m c th thay i thng qua qu trnh hc hay qu trnh tin ho, v vy s khc phc c qu trnh th sai. Hin nay cc b iu khin thng thng kt hp vi cc k thut iu khin thng minh, to nn cc b iu khin lai c th iu khin cc h thng phc tp vi cht lng cao.