Chuong04 DKTM

Mon hoc
HE THONG IEU KHIEN THONG MINH

Giang vien: TS. Huynh Thai Hoang Bo B mon ieu Khien T ong i Khi T Khoa ien ien T ai hoc Bach Khoa TP.HCM Email: hthoang@hcmut.edu.vn hthoang@hcmut edu vn Homepage: http://www4.hcmut.edu.vn/~hthoang
28 May 2010
H. T. Hong - HBK TPHCM
Chng 4
IU KHIN DA VO M HNH
28 May 2010
Noi dung chng 3 Gii thiu hi Nhc li v m hnh ca h phi tuyn iu khin dng m hnh ngc iu khin m hnh ni iu khin theo m hnh chun u eo c u iu khin d bo da vo m hnh
28 May 2010
Gii thiu
28 May 2010
Gii thiu iu khin da i khi d vo m hnh l phng php i khi t h h h h iu khin trong c s dng tng minh m hnh ca i tng tnh ton tn hiu iu khin. Cc phng php iu khin da vo m hnh ph bin: iu khin dng m hnh ngc (Inverse Control). iu khin m hnh ni (Internal Model Control). iu khin theo m hnh chun (Model Reference Control). iu khin d bo (Predictive C t l) i khi d b (P di ti Control) Cc phng php iu khin da vo m hnh phi tuyn p dng thnh cng vo nhiu lnh vc, nhng lnh vc p dng ch g g , g p g yu l cc qu trnh cng ngh ha hc (th d nh trong cng nghip ha du, ch bin thc phm, nc gii kht...).
28 May 2010
Nhn dng m hnh h phi tuyn
28 May 2010
Vng lp nhn dng h thng

Th nghiem thu thap d lieu X ly X ly s bo d lieu Chon cau truc mo hnh Chon tieu chuan c lng c lng c lng thong so anh gia mo hnh
Thong tin biet trc ve he thong: cac qui o h c luat vat ly, cac phat bie u ngon ng , c e g
Khong tot xet lai thong tin biet trc

28 May 2010
Khong tot lap lai
Tot chap nhan mo hnh

7
Cu trc m hnh phi tuyn i tng: t

y (k ) = f 0 [u (k 1),K, u (k nu ), y (k 1),K, y (k n y )] + v(k )
D liu:
Z N = {y (1), u (1); y (2), u (2);K; y ( N ), u ( N )}
M hnh: y (k , ) = f ( (k ), ) y (k , ) B d bo (k ) Vector hi qui V i Vector tham s
28 May 2010
Phn loi m hnh phi tuyn Phn loi th Ph l i theo cc phn t hi qui: h i
Phn loi theo b cu trc hm phi tuyn: M h h m: M d i S hnh Mamdani, Sugeno M hnh mng thn kinh: MLP, RBF M hnh lai mng thn kinh m: ANFIS
28 May 2010 H. T. Hong - HBK TPHCM 9
S khi b d bo m
Qui tc m m t c tnh ng hc ca i tng phi tuyn: B d bo:

y (k , ) = i . Aij ( j (k ), ij , ij )
i =1 j =1 nr n
Vector tham s: = [1 ,..., nr , 11 ,..., nr n , 11 ,..., nr n ]T

S khi b d bo dng mng thn kinh
B d bo: Vector tham s:

28 May 2010
n vij j (k ) y (k , ) = wi zi (k ) = wi g i i =1 i =1 j =1
l l
= [v11 , K , v1r , K , vl1 , K , vllr , w1 ,..., wl ]T

H. T. Hong - HBK TPHCM 11
c lng tham s
u(k) v(k) i tng y(k)
(k , )
M hnh
y (k , )
Ti u ha
Tiu chun c lng
Tiu chun c lng:

1 VN ( , Z ) = N
N
1 (k ) = N k =1
N 2
[ y(k ) y(k , )]2

k =1
Thut ton ti u ha: thut ton Newton, gii thut di truyn,

iu khin dng m hnh ngc
28 May 2010
13
iu khin ngc trc tip (Direct Inverse Control)
Nguyn tc iu khin ngc trc tip Phng php iu khin vng h trong b iu khin l m hnh h, ngc ca i tng. i tng:
y (k + 1) = f ( y (k ),..., y (k n + 1), u (k ),..., u (k m + 1))
Lut iu khin:
u (k ) = f 1 (r (k + 1), r (k ),..., r (k n + 1), u (k 1),..., u (k m + 1))
Thc t rt kh rt ra m hnh ngc gii tch ca i tng, nht l trong trng hp i tng phi tuyn
M hnh ngc
M hnh ngc S dng FM/NN nhn dng c tnh ng hc ngc ca i tng:

u ( k , ) = f 1 ( y ( k + 1) y ( k ) y ( k n + 1) u (k 1) u ( k m + 1)) ), ),..., ), ),...,
c lng thng s m hnh ngc
S c lng tham s m hnh ngc offline c lng offline: Thu thp N mu d liu vo ra ca i tng Tiu chun c lng tham s:
J ( ) = [u (k ) u (k , )]2 min
k =1 N
28 May 2010
16
c lng thng s m hnh ngc
S c lng tham s m hnh ngc online c lng online: g Thng s m hnh ngc c cp nht trc tuyn sao cho sai lch gia tn hiu ra ca i tng v tn hiu t l ti thiu Tiu chun c lng tham s:
J ( ) = [r (k ) y (k )]2 min )
k
28 May 2010
17
iu khin dng m hnh ngc trc tip
M hnh ngc sau khi nhn dng s c s dng iu khin i tng

Th d: iu khin h bn cha dng m hnh ngc trc tip
Phng trnh vi phn m t c tnh ng hc h bn cha:

1 & h(t ) = ku k (t ) C D a 2 gh(t ) h A(h) Amax Amin A(h) = h + Amin hmax
Nhn dng c tnh ng hc h bn n M h h thun ca h b c th biu di nh sau: hnh th bn n bi din h

h(k + 1) = f (h(k ), u (k ))
M hnh ngc:
u (k ) = f 1 (h(k + 1), h(k ))
S dng mng thn kinh nhn dng m hnh ngc ca h bn cha. Cu trc mng thn kinh: Tn hiu vo: h(k + 1), h(k ) Tn hiu ra: u (k ) S t bo thn kinh lp n l 6. Hm k h h l l hm sigmoid; kch hot lp n l h i id Hm kch hot lp ra l hm tuyn tnh.
28 May 2010
20
D liu vo ra h bn n
Single tank input - output data Si l t k i t t td t 12 9 u(t) h h(t) 6 3 0 40 0 30 20 10 0 0 200 400 600 Time 800 1000
28 May 2010
21
S iu khin h bn n dng m hnh ngc
28 May 2010
22
Kt qu iu khin h bn n dng m hnh ngc
40 30 20 10 0 r(t) () h(t)
100
200
300
400
28 May 2010
23
Nhn xt Phng php i khi d m h h ngc ch c th dng Ph h iu khin dng hnh h h p d khi i tng cn iu khin l n nh vi pha cc tiu. Nu m hnh ngc khng nhn dng ng c tnh ng hc ngc ca i tng th kt qu iu khin s c sai s. Gii php loi tr nh hng ca sai s m hnh: dng s iu khin thun (Feed Forward Control) hoc iu khin m hnh ni (Internal Model Control).
28 May 2010
24
iu khin thun (Feed Forward Control)
S iu khin thun Trong trng hp m hnh NN/FM khng th nhn dng hon g g p g g ton chnh xc c tnh ng hc ngc ca i tng th s dng thm b iu khin PID kinh in trit tiu sai s do m hnh
28 May 2010
25
Th d iu khin thun h bn n
M hnh ngc: mng NN ( trnh by th d trc) B i khi PI iu khin PI:

28 May 2010
0.01 GPID ( s ) = 10 + s
H. T. Hong - HBK TPHCM 26
Kt qu iu khin
40 30 20 10 0 r(t) h(t)
100 00
200 00
300
400 00
iu khin ngc (Inverse Control)

40 30 20 10 0 r(t) h(t)
100
200
300
400
iu khin thun (Feed forward Control)

iu khin m hnh ni
28 May 2010
28
iu khin m hnh ni tuyn tnh

i tng
M hnh ngc
M hnh thun
S iu khin m hnh ni tuyn tnh y Tn hiu ra ca h thng: Y ( s ) = R ( s )G R ( s ) + N ( s )G N ( s )

GR ( s) = Y ( s) R( s) =
N ( s ) =0
1 + GC ( s )G P ( s ) GC ( s )G P ( s ) 1 + GC ( s )G P ( s ) GC ( s)G P ( s )
29
GC ( s )G P ( s )
Y ( s) G N ( s) = N ( s)
28 May 2010
=
R( s )=0
1 GC ( s )G P ( s)
iu khin m hnh ni phi tuyn
S iu khin m hnh ni tuyn tnh Nu i tng n nh, m hnh ngc n nh v m hnh ngc g g g chnh xc bng nghch o c tnh ng hc m hnh thun th tn hiu ra ng bng tn hiu vo, bt chp nhiu.
Th d iu khin m hnh ni h bn n
28 May 2010
31
D liu vo ra h bn n
Single tank input - output data Si l t k i t t td t 12 9 u(t) h h(t) 6 3 0 40 0 30 20 10 0 0 200 400 600 Time 800 1000
28 May 2010
32
Nhn dng c tnh ng hc h bn n M hnh thun ca h bn n c th biu din nh sau:

h(k + 1) = f (h(k ), u (k ))
u (k ) = f 1 (h(k + 1), h(k ))
M hnh ngc:
Cu t C trc mng thn ki h nhn dng m hnh ngc th kinh h d h h Tn hiu vo: h(k 1), u (k 1) Tn hiu ra: h(k ) S t bo thn kinh lp n l 6. p Hm kch hot lp n l hm sigmoid; lp ra l hm tuyn tnh. Cu C trc mng thn ki h nhn dng m h h ngc h kinh h d hnh Tn hiu vo: h(k + 1), h(k ) Tn hiu ra: u (k ) S t bo thn kinh lp n l 6. 6 Hm kch hot lp n l hm sigmoid; lp ra l hm tuyn tnh.
Kt qu iu khin
40 30 20 10 0 r(t) () h(t)
40 30 20 10 0 r(t) h(t)
100
200
300
400
iu khin m hnh ni
100
200
300
400
iu khin ngc
40 30 20 10 0 r(t) h(t)
100
200
300
400
iu khin thun
iu khin theo m hnh chun
28 May 2010
35
Nguyn tc iu khin theo m hnh chun
Tiu chun hun luyn b iu khin:
J ( ) = [ y m (k ) y (k )]2 min
k
M hnh NN/FL: dng c lng y (k ) / khi tm cc tr J ( )

Th d: iu khin cnh tay my theo m hnh chun
Phng trnh vi phn m t tnh h h i h c h ng h h tay my: hc h

& & &(t ) + 2 (t ) + 10 sin (t ) = u (t )
iu khin cnh tay my bm tn hiu t theo m hnh chun:

m ( s) 9 Gm ( s ) = = 2 R( s) s + 6s + 9
S m phng iu khin cnh tay my theo m hnh chun
28 May 2010
38
Cu trc cc mng thn kinh Cu trc mng thn kinh nhn dng c tnh ng hc tay my: Tn hiu vo:(k1), (k2), u(k1), u(k2) (k Tn hiu ra: (k ) S t bo thn kinh lp n l 10 Cu trc mng thn kinh thc hin chc nng iu khin: Tn hiu vo: (k1), (k2), r(k1), r(k2), u(k1) Tn hiu ra: u(k) S t bo thn kinh lp n l 13.
28 May 2010
39
D liu hun luyn mng thn kinh nhn dng m hnh tay my
28 May 2010
40
D liu hun luyn mng thn kinh iu khin theo m hnh chun
28 May 2010
41
Kt qu iu khin cnh tay my theo m hnh chun
Ch : Cht lng iu khin ph thuc rt nhiu vo kt qu hun luyn cc mng thn kinh.
iu khin d bo da vo m hnh
28 May 2010
43
S khi h thng iu khin d bo
M hnh d bo p ng ca i tng trong tng lai Thut ton ti u ha: tnh ton chui tn hiu iu khin tng lai bng cch ti thiu ha mt hm mc tiu. Di phm vi d bo theo thi gian sau mi chu k ly mu
Nguyn tc iu khin d bo Dng hnh d bo D mt m h h d b p ng ca i tng ti cc thi i hi im ri rc trong tng lai trong mt phm vi d bo (prediction horizon) nht nh. ) Tnh ton chui tn hiu iu khin tng lai trong phm vi iu khin (control horizon) bng cch ti thiu ha mt hm mc tiu. Hm H mc ti thng d l yu cu l cho tn hiu d bo tiu th dng lm h t hi b p ng ca i tng phi cng gn qu o p ng mong mun cng tt, trong iu kin rng buc cho trc. Di phm vi d bo theo thi gian, sao cho ti mi thi im ly mu qu trnh ti u ha c lp li vi tn hiu o va thu c, v ch c tc ng iu khin u tin trong chui tc ng iu khin tnh ton c xut ra iu khin i tng.
28 May 2010
45
Nguyn tc iu khin d bo
28 May 2010
46
Trnh t thit k h thng iu khin d bo Nhn dng m h h ca i tng (d NN h FM) Nh d hnh (dng hoc Chn phm vi d bo HP Chn phm vi iu khin HC, (HC HP) Chn hm mc tiu:
J (u) = i [ w(k + i ) y (k + i )]2 + i [u (k + i 1)]2
i =1 i =1 HP HC
J (u) = i [ w(k + i ) y (k + i )]2 + i [u (k + i ) u (k + i 1)]2

i =1 i =1
HP
HC
u = [u ( k ) u ( k + 1) K u ( k + H C 1)]T
w(k + i) = w(k ) + (1 )r (k + i)
Chn thut ton ti u ha: thut ton Newton, gii thut di truyn Newton
Thut ton Newton trong iu khin d bo

Hm H mc tiu: J (u) = i [ w(k + i ) y (k + i )]2 + i [u (k + i 1)]2 i
i =1 i =1 HP HC
Thut ton Newton: u ( j +1) = u ( j ) [J (u ( j ) )] J (u ( j ) )

1
J (u
( j)
) = 2 k (k + i, u ( j ) ) ( j ) (k + i ) + 2diag( 1 ,K , H C )u ( j ) g
i =1
HP
( j ) (k + i ) = w(k + i ) y (k + i, u ( j ) )
( k + i, u
J (u ( j)
( j)
y (k + i ) )= u u = u ( j )
(k + i, u ( j ) ) ( j ) T ( j) ( j) ) (k + i, u ) ) = 2 k (k + i, u (k + i ) + u i =1 + 2di ( 1 , K , H C ) diag
HP
28 May 2010
48
Thut ton Levenberg-Marquardt trong iu khin d bo Levenberg Hm H mc tiu: J (u) = i [ w(k + i ) y (k + i )]2 + i [u (k + i 1)]2 i
i =1 i =1 HP HC
Thut ton Levenberg-Marquardt: Levenberg Marquardt:

u ( j +1) = u ( j ) J (u ( j ) )
J (u ( j)
HP
J (u ( j ) )
) = 2 k (k + i, u ( j ) ) ( j ) (k + i ) + 2diag( 1 ,K , H C )u ( j )
i =1
( j ) (k + i ) = w(k + i ) y (k + i, u ( j ) ) ( k + i, u ( j ) ) =
J (u ( j)
HP
y (k + i ) u u = u ( j )
) = 2 k (k + i, u ( j ) ) T (k + i, u ( j ) ) + 2diag( 0 , 2 ,K , H C ) + ( j ) I
i =1
28 May 2010
49
iu khin d bo m hnh ni
28 May 2010
50
Th d: iu khin d bo h bn phn ng dng m hnh NN

h(t): h( ) cao mc cht l ht lng Cb(t): nng sn phm u ra ca qu trnh w1(t): lu lng vo bn ca dng sn phm c nng cao Cb1=24 9 =24.9 w2(t) = 0.1: lu lng vo bn ca dng sn phm c nng thp Cb2=0.1 k1=1; k2=1 ;
c tnh ng hc ca h thng m t bi cc phng trnh sau:

dh(t ) = w1 (t ) + w2 (t ) 0.2 h(t ) dt dCb (t ) k1Cb (t ) w (t ) w (t ) = (Cb1 Cb (t )) 1 + (Cb 2 Cb (t )) 2 dt h(t ) h(t ) (1 + k 2 Cb (t )) 2
Bi ton t ra l iu khin nng sn phm u ra theo gi tr t b cch i chnh l l bng h iu h h lu lng vo w1( ) (t)
S m phng iu khin d bo h bn phn ng
28 May 2010
52
Thit k b iu khin d bo Cu trc mng thn kinh nhn dng c tnh ng hc h bn phn ng: Tn hiu vo: w1(k1), w1(k2), Cb(k1), Cb(k2) ( ), ( ), ( ), ( ) Tn hiu ra: Cb (k ) S t bo thn kinh lp n l 7 Cc ty chn ca thut ton iu khin d bo: Phm vi iu khin: H C = 2 Phm vi d bo: H P = 7 Trng s hm mc tiu: = 1 = 0.05 g Thut ton ti u ha: suy gim dc
28 May 2010
53
D liu hun luyn mng thn kinh nhn dng m hnh h bn phn ng
28 May 2010
54
Kt qu iu khin d bo h bn phn ng dng mng thn kinh
28 May 2010
55
Th d: iu khin d bo h bn kp dng m hnh m
c tnh ng hc ca h thng m t bi cc phng trnh sau:

& h1 (t ) = & h2 (t ) = 1 ku (t ) sgn(h1 (t ) h2 (t ))C D a1 2 g | h1 (t ) h2 (t ) | A1 (h1 )
) )
1 sgn(h1 (t ) h2 (t ))CD a1 2 g | h1 (t ) h2 (t ) | C D a2 2 gh2 (t ) ( h A2 (h2 ) Amax Amin hi + Amin i hmax

Ai (hi ) =
28 May 2010
56
S m phng iu khin d bo h bn kp
28 May 2010
57
Cu trc m hnh m Takagi-Sugeno nhn dng c tnh ng hc h bn kp Takagi-
H qui tc m:
Hm lin thuc ca cc tp m:
28 May 2010
58
Biu thc b d bo B d bo m:
y (t , ) = Rat _ thap ( y (t 1), 17 , 18 )[1 y (t 1) + 2 y (t 2) + 3u (t 1) + 4u (t 2)] p + Thap ( y (t 1), 17 , 18 , 19 )[ 5 y (t 1) + 6 y (t 2) + 7 u (t 1) + 8u (t 2)] + TB ( y (t 1), 18 , 19 , 20 )[ 9 y (t 1) + 10 y (t 2) + 11u (t 1) + 12u (t 2)]
+ Cao ( y (t 1), 19 , 20 )[13 y (t 1) + 14 y (t 2) + 15u (t 1) + 16u (t 2)]
28 May 2010
59
S thu thp d liu
28 May 2010
60
D liu vo ra h bn kp
28 May 2010
61
Kt qu nhn dng m hnh Takagi-Sugeno Takagi-
28 May 2010
62
Thit k b iu khin d bo M hnh d bo p ng ca h bn kp: m hnh m Takagi-Sugeno Takagi Sugeno Cc ty chn ca thut ton iu khin d bo: Phm vi iu khin: H C = 3 Phm vi d bo: H P = 10 Trng s h mc ti = 1 = 400 T hm tiu: Thut ton ti u ha: Levenberg-Marquadt
28 May 2010
63
Kt qu iu khin d bo h kp dng m hnh m Takagi-Sugeno Takagi-
28 May 2010
64

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Mon hoc

HE THONG IEU KHIEN THONG MINH

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

Nhn dng m hnh h phi tuyn

H. T. Hong - HBK TPHCM

Vng lp nhn dng h thng

Khong tot xet lai thong tin biet trc

Khong tot lap lai

Tot chap nhan mo hnh

H. T. Hong - HBK TPHCM

Cu trc m hnh phi tuyn i tng: t

Z N = {y (1), u (1); y (2), u (2);K; y ( N ), u ( N )}

M hnh: y (k , ) = f ( (k ), ) y (k , ) B d bo (k ) Vector hi qui V i Vector tham s

H. T. Hong - HBK TPHCM

Qui tc m m t c tnh ng hc ca i tng phi tuyn: B d bo:

Vector tham s: = [1 ,..., nr , 11 ,..., nr n , 11 ,..., nr n ]T

S khi b d bo dng mng thn kinh

B d bo: Vector tham s:

= [v11 , K , v1r , K , vl1 , K , vllr , w1 ,..., wl ]T

Tiu chun c lng

Tiu chun c lng:

[ y(k ) y(k , )]2

Thut ton ti u ha: thut ton Newton, gii thut di truyn,

iu khin dng m hnh ngc

H. T. Hong - HBK TPHCM

iu khin ngc trc tip (Direct Inverse Control)

M hnh ngc S dng FM/NN nhn dng c tnh ng hc ngc ca i tng:

c lng thng s m hnh ngc

H. T. Hong - HBK TPHCM

c lng thng s m hnh ngc

H. T. Hong - HBK TPHCM

iu khin dng m hnh ngc trc tip

M hnh ngc sau khi nhn dng s c s dng iu khin i tng

Th d: iu khin h bn cha dng m hnh ngc trc tip

Phng trnh vi phn m t c tnh ng hc h bn cha:

Nhn dng c tnh ng hc h bn n M h h thun ca h b c th biu di nh sau: hnh th bn n bi din h

u (k ) = f 1 (h(k + 1), h(k ))

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

S iu khin h bn n dng m hnh ngc

H. T. Hong - HBK TPHCM

Kt qu iu khin h bn n dng m hnh ngc

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

iu khin thun (Feed Forward Control)

H. T. Hong - HBK TPHCM

M hnh ngc: mng NN ( trnh by th d trc) B i khi PI iu khin PI:

iu khin ngc (Inverse Control)

iu khin thun (Feed forward Control)

H. T. Hong - HBK TPHCM

iu khin m hnh ni tuyn tnh

S iu khin m hnh ni tuyn tnh y Tn hiu ra ca h thng: Y ( s ) = R ( s )G R ( s ) + N ( s )G N ( s )

H. T. Hong - HBK TPHCM

iu khin m hnh ni phi tuyn

H. T. Hong - HBK TPHCM

H. T. Hong - HBK TPHCM

Nhn dng c tnh ng hc h bn n M hnh thun ca h bn n c th biu din nh sau:

iu khin theo m hnh chun

H. T. Hong - HBK TPHCM