Chuong 4 - LTDKNC PDF

Mn Mn hc hc
L THUYT IU L THUYT IU KHIN NNG CAO KHIN NNG CAO

Ging vin: TS. Hunh Thi Hong
B mn iu Khin T ng
Khoa in in T
i hc Bch Khoa TP HCM i hc Bch Khoa TP.HCM
Email: hthoang@hcmut.edu.vn
Homepage: http://www4.hcmut.edu.vn/~hthoang/
18 April 2011 H. T. Hong - HCMUT 1
Chng Chng 44 gg
IU KHIN THCH NGHI IU KHIN THCH NGHI
Gii thiu
Ni Ni dung dung chng chng 44
Gii thiu
c lng thng s thch nghi
iu khin theo m hnh chun
H thch nghi theo m hnh chun
iu khin t chnh nh
iu khin hoch nh li
GII THIU GII THIU
H th i khi th h hi l h th i khi t
nh ngha iu khin thch nghi nh ngha iu khin thch nghi
H thng iu khin thch nghi l h thng iu khin trong
thng s ca b iu khin thay i trong qu trnh vn hnh nhm
gi vng cht lng iu khin ca h thng c s hin din ca cc
yu t bt nh hoc bin i khng bit trc
H thng iu khin thch nghi c hai vng hi tip:
V i khi hi i h h Vng iu khin hi tip thng thng
Vng hi tip chnh nh thng s
S khi tng qut h thng iu khin thch nghi S khi tng qut h thng iu khin thch nghi
Nhn dng/
c lng c lng
iu kin
lm vic
Chnh nh
u(t)
y(t)
B iu khin
r(t)
i tng
i khi th h hi t ti thng s ca b i khin c
Phn loi cc s iu khin thch nghi Phn loi cc s iu khin thch nghi
iu khin thch nghi trc tip: thng s ca b iu khin c
chnh nh trc tip m khng cn phi nhn dng c tnh ng hc
ca i tng
iu khin thch nghi gin tip: trc tin phi c lng thng s
ca i tng, sau da vo thng tin ny tnh ton thng s
ca b iu khin ca b iu khin.
Cc s iu khin thch nghi thng dng:
H thch nghi theo m hnh chun (Model Reference Adaptive g ( p
System MRAS)
H iu khin t chnh nh (Self Tuning Regulator STR)
iu khin hoch nh li (Gain Scheduling Control)
Mt s k hiu Mt s k hiu
u(t): l tn hiu iu khin (tn hiu vo ca i tng) u(t): l tn hiu iu khin (tn hiu vo ca i tng)
y(t): l tn hiu ra ca i tng
u
c
(t): l tn hiu vo ca h thng kn (closed-loop input)
(Ch : Mn CSKT k hiu tn hiu ny l tn hiu chun r(t))
y
m
(t): l tn hiu ra ca m hnh chun
H thch nghi theo m hnh chun H thch nghi theo m hnh chun
M hnh chun
y
m
(t)
C cu
u (t)
chnh nh
u(t)
y(t)
B iu khin
u
c
(t)
i tng
H iu khin t chnh H iu khin t chnh
Thit k b
Tiu chun
thit k
Thng s i tng
l
Thit k b
iu khin
thit k
Thng s i tng
u
c lng
Thng s
iu khin
u
y
B iu khin
u
c
i tng
iu khin hoch nh li iu khin hoch nh li
iu kin
l lm vic
Hoch nh
li
u(t)
y(t)
B iu khin
e(t)
u
c
(t)
i tng
g
H tuyn tnh lin tc m t bi phng trnh vi phn:
Qui c biu din h lin tc Qui c biu din h lin tc
H tuyn tnh lin tc m t bi phng trnh vi phn:
= + + + +

) (
) (
...
) ( ) (
1
1
1
1 0
t y a
dt
t dy
a
dt
t y d
a
dt
t y d
a
n n
n
n
n
n
) ( ) ( ) (
1
t d t d t d
m m
) (
) (
...
) ( ) (
1
1
1
1 0
t u b
dt
t du
b
dt
t u d
b
dt
t u d
b
m m
m
m
n
m
+ + + +

(Ch : trong cng thc trn t l bin thi gian lin tc, t = 0)
t p l ton t vi phn:
) ( ) ( t u
dt
d
t pu =
Phng trnh vi phn trn c th vit li di dng:
( g g g )
= + + + +

) ( ) ( ... ) ( ) (
1
1
1 0
t y a t py a t y p a t y p a
n n
n n
) ( ) ( ) ( ) (
1
1
1 0
t u b t pu b t u p b t u p b
m m
+ + + +

) ( ) ( ... ) ( ) (
1 1 0
t u b t pu b t u p b t u p b
m m
+ + + +

) ( ) ( ) ( ) ( t u p B t y p A =
n n
n n
a p a p a p a p A + + + + =

1
1
1 0
... ) (
Trong :
n n
p p p p
1 1 0
) (
m b
m m
b p b p b p b p B + + + + =

1
1
1 0
... ) (
g
H tuyn tnh ri rc m t bi phng trnh sai phn:
Qui c biu din h ri rc Qui c biu din h ri rc
H tuyn tnh ri rc m t bi phng trnh sai phn:
= + + + + + + +

) ( ) 1 ( ... ) 1 ( ) (
1 1 0
k y a k y a n k y a n k y a
n n
) ( ) 1 ( ... ) 1 ( ) (
1 1 0
k u b k u b m k u b m k u b
m m
+ + + + + + +
t q l ton t lm sm mt chu k ly mu:
) ( ) ( ) ( ) (
1 1 0 m m
(Ch : trong cng thc trn k l ch s ri rc, k = 0, 1, 2,)
q y
) 1 ( ) ( + = k u k qu
= + + + +

) ( ) ( ... ) ( ) (
1
1
1 0
k y a k qy a k y q a k y q a
n n
n n
) ( ) ( ... ) ( ) (
1
1
1 0
k u b k qu b k u q b k u q b
m m
m m
+ + + +

) ( ) ( ) ( ) ( k u q B k y q A =
n n
n n
a q a q a q a q A + + + + =

1
1
1 0
... ) (
Trong :
n n
q q q q
1 1 0
) (
m b
m m
b q b q b q b q B + + + + =

1
1
1 0
... ) (
g
Quan h vo ra trong min thi gian:
Qui c biu din chung h lin tc v ri rc Qui c biu din chung h lin tc v ri rc
Quan h vo ra trong min thi gian:
By Au =
Trong cng thc trn: g g
A v B l cc a thc theo bin p nu h lin tc, theo bin q nu
h ri rc
u v y l cc hm theo thi gian t nu h lin tc, theo ch s k nu
h ri rc
Hm truyn:
A
B
U
Y
G = =
Trong cng thc trn, G, U, Y, A v B l cc hm:
Theo bin s (bin Laplace) nu h lin tc Theo bin s (bin Laplace) nu h lin tc
Theo bin z nu h ri rc
C LNG THNG S C LNG THNG S
Bi ton nhn dng m hnh ton ca i tng Bi ton nhn dng m hnh ton ca i tng
e(k)
y(k) u(k)
+
i tng +
e(k)
Cho i tng c u vo u(k), u ra y(k). Gi s quan h gia tn
+
i tng +
g ( ), y( ) q g
hiu vo v tn hiu ra c th m t bng phng trnh sai phn:
) ( ) ( ... ) 1 ( ) ( ... ) 1 ( ) (
1 1
k e m k u b k u b n k y a k y a k y
m n
+ + + = + + +
Gi s ta thu thp c N mu d liu:
{ } ) ( ), ( , ), 1 ( ), 1 ( N u N y u y Z
N
K =
Bi ton t ra l c lng thng s ca i tng da vo d liu
vo ra thu thp c
{ } ) ( ), ( , ), 1 ( ), 1 ( N u N y u y Z K
vo ra thu thp c.
M hnh hi qui tuyn tnh M hnh hi qui tuyn tnh
Tn hiu ra ca h thng:
) ( ) ( ... ) 1 ( ) ( ... ) 1 ( ) (
1 1
k e m k u b k u b n k y a k y a k y
m n
+ + + + + =
Tn hiu ra ca h thng:
t:
[ ]
T
b b a a =
vector thng s
[ ]
m n
b b a a K K
1 1
=
[ ]
T
m k u k u n k y k y k ) ( ) 1 ( ) ( ) 1 ( ) ( =
vector hi qui
) ( ) ( ) ( k e k k y
T
+ =
Quan h vo ra ca i tng c th vit li di dng:
[ ] m k u k u n k y k y k ) ( ) 1 ( ) ( ) 1 ( ) ( = K K
) ( ) ( ) ( k e k k y + =
T
B qua nhiu e(k), ta c b d bo hi qui tuyn tnh:
) ( ) , (
k k y
T
=
Bi ton c lng bnh phng ti thiu Bi ton c lng bnh phng ti thiu
i tng
u(k)
y(k)
(k)
i tng
(k,)
+
(t,)
M hnh
Ch tiu c lng bnh phng ti thiu:
( , )
Ch tiu c lng bnh phng ti thiu:

= =
= =
N
k
T
N
k
N
k k y k V
1
2
1
2
] ) ( ) ( [
2
1
) , (
2
1

= = k k 1 1
Li gii bi ton c lng bnh phng ti thiu Li gii bi ton c lng bnh phng ti thiu
Do V l hm ton phng nn gi tr lm V t cc tiu l nghim
N
V
Do V l hm ton phng nn gi tr lm V t cc tiu l nghim
ca phng trnh:

0 ]
) ( ) ( )[ ( =
N
T
k k y t
0
N
0 ] ) ( ) ( )[ (
1
= k
k k y t

=
N
T
N
k k k y k
) ( ) ( ) ( ) (
=

N N
T
k y k k k
1
) ( ) ( ) ( ) (

= = k k
y
1 1
) ( ) ( ) ( ) (
=

= = k k
k y k k k
1 1
) ( ) ( ) ( ) (
N
T
k k V
2
] ) ( ) ( [
1
=
=
k
T
N
k k y V
1
2
] ) ( ) ( [
2

c lng thng s c lng thng s -- Th d 1 Th d 1
K
Cho h ri rc c hm truyn l:
a z
K
z G
+
= ) (
Trong K v a l cc thng s cha bit.
Gi s ta thc hin th nghim thu thp c cc mu d liu:
{ } 0.1962 1.2853 0.8574 2.3867 0.3565 = ) (k u { }
{ } 4.0411 0.4628 7.5878 1.0696 0 = ) (k y
Hy c lng thng s ca i tng da vo d liu thu thp
Gii:
K
U
z Y
z G = =
) (
) (
) (

1
1
1 ) (
) (
=
Kz
U
z Y
a z z U + ) (
1
1 ) ( + az z U
) ( ) ( ) 1 (
1 1
z U Kz z Y az

= +
) 1 ( ) 1 ( ) ( + = k Ku k ay k y
[ ]
T
k k k ) 1 ( ) 1 ( ) ( t: [ ]
T
k u k y k ) 1 ( ) 1 ( ) ( =
[ ]
T
K a =
) ( ) ( k k y
T
=
Cng thc c lng thng s bnh phng ti thiu:
=

5
1
5
) ( ) ( ) ( ) (
T
k y k k k
Cng thc c lng thng s bnh phng ti thiu:
Thay s liu c th, ta c:

= = 1 1 k k
[ ]
T
3 4 . 0
=
Kt l
3
) ( G
=
=
3
4 . 0
K
a
Kt lun:
4 . 0
3
) (
=
z
z G
Cho ng c DC tn hiu vo
100
Cho ng c DC, tn hiu vo
u(k) l in p phn ng, tn
hiu ra y(k) l tc quay.
H t i
0
50
00
(
V
o
l
t
)
Hm truyn ri rc ca ng
c DC c dng:
) ( b z b z Y +
-100
-50
u

2 1
2
2 1
) (
) (
) (
a z a z
b z b
z U
z Y
z G
+ +
+
= =
Trong a
1
a
2
b
1
b
2
cc
20
40
60
e
c
)
Trong a
1
, a
2
, b
1
, b
2
cc
thng s cha bit. Gi s ta
thc hin th nghim thu thp
d li h
-20
0
y

(
r
a
d
/
s
e
c cc mu d liu nh
th. Hy vit cng thc c
lng thng s ca hm truyn
D liu vo ra ca ng c DC
0 200 400 600 800 1000
-40
Samples
t d liu.
D liu vo ra ca ng c DC
thu thp c t th nghim
2
2
1
1 2 1
) (

+ + z b z b b z b z Y
Gii:
2
2
1
1
2 1
2 1
2
2 1
1 ) (
) (
) (

+ +
+
=
+ +
+
= =
z a z a
z b z b
a z a z
b z b
z U
z Y
z G
) ( ) ( ) ( ) 1 (
2
2
1
1
2
2
1
1
z U z b z b z Y z a z a

+ = + +
t: [ ]
T
k u k u k y k y k ) 2 ( ) 1 ( ) 2 ( ) 1 ( ) ( =
) 1 ( ) 1 ( ) 2 ( ) 1 ( ) (
2 1 2 1
+ + + = k u b k u b k y a k y a k y
[ ]
T
b b a a
2 1 2 1
=
) ( ) ( k k y
T
=
1
=

=
=
1000
2
1
1000
2
) ( ) ( ) ( ) (
k k
T
k y k k k Cng thc c lng thng s :
d th i t d li th th t p dng c th vi tp d liu thu thp, ta c:
[ ]
T
00150 . 0 00177 . 0 6065 . 0 605 . 1 =
00150 0 00177 0 + z
6065 . 0 605 . 1
00150 . 0 00177 . 0
) (
2
+
+
=
z z
z
z G
c lng bnh phng ti thiu c trng s c lng bnh phng ti thiu c trng s
Ch i l b h h i hi Ch tiu c lng bnh phng ti thiu c trng s:

= =
N
T
N
N
k k y k N k k N V
2 2
] ) ( ) ( )[ , (
2
1
) , ( ) , (
2
1

= = k k 1 1
2 2
Li gii bi ton bnh phng ti thiu c trng s: g p g g
=

N
k
N
k
T
k y k k N k k k N
1
1
1
) ( ) ( ) , ( ) ( ) ( ) , (

= = k k 1 1
Uc lng bnh phng ti thiu thi gian thc Uc lng bnh phng ti thiu thi gian thc
Gi s n thi im k ta thu thp c k mu d liu Gi s n thi im k, ta thu thp c k mu d liu.
Ch tiu c lng bnh phng ti thiu c trng s thi im k l:

k
T l k
k
l k
l l l V
2 2
] ) ( ) ( [
1
) (
1

=
= =
l
T l k
l
l k
k
l l y l V
1
2
1
2
] ) ( ) ( [
2
1
) , (
2
1

Cng thc c lng thng s ti thi im k: Cng thc c lng thng s ti thi im k:
k
l k
k
T l k
l y l l l k
1
) ( ) ( ) ( ) ( ) (
= = l l 1 1
Uc lng bnh phng ti thiu thi gian thc Uc lng bnh phng ti thiu thi gian thc
=
k
l
T l k
l l k R
1
) ( ) ( ) (
k
t
=
k
l
l k
l y l k f
1
) ( ) ( ) (
) ( ) ( ) (
1
k f k R k

=
Cng thc trn khng th p dng thi gian thc v khi thi gian h
thng hot ng cng di, s mu d liu s tng ln, dn n tng
thi gian tnh ton v trn b nh.
Cn cng thc qui khng cn lu tr ton b cc mu d liu v
khi lng tnh ton khng tng ln theo thi gian
khi lng tnh ton khng tng ln theo thi gian.
Thut ton bnh phng ti thiu tuyn tnh c trng s qui Thut ton bnh phng ti thiu tuyn tnh c trng s qui
Th t t l i Thut ton c lng qui:
) ( ) ( ) 1 (
) (
1
k k R k k
+ =
) ( ) ( ) 1 ( ) ( k k k R k R
T
+
) ( ) ( ) 1 ( ) ( k k R k k + =
) 1 (
) ( ) ( ) ( = k k k y k
T

Ch :
) ( ) ( ) 1 ( ) ( k k k R k R
T
+ =
Ch :
gi l h s qun (forget factor).
Thng thng c chn trong khong 0.980.995.
18 April 2011 H. T. Hong - HBK TPHCM 27
Chng minh thut ton c lng qui Chng minh thut ton c lng qui
) ( ) ( ) (
1
k f k R k

=
k
T k-l
l l k R ) ( ) ( ) ( ) ( ) ( ) ( ) (
1
k k l l
T
k
T k-l
+
) ( ) ( ) (
1
k f k R k =
= l 1
) ( ) ( ) ( ) (
1
1
1
k k l l
T
k
l
T -l k
+

1 l

=
1 l =
) ( ) ( ) 1 ( ) ( k k k R k R
T
+ =
=
k
l
l k
l y l k f
1
) ( ) ( ) (
) ( ) ( ) ( ) (
1
1
k y k l y l
k
l
l k
+
1 k

) ( ) ( ) ( ) (
1
1
1
k y k l y l
k
l
l k
+
=

) ( ) ( ) 1 ( ) ( k y k k f k f + =
Chng minh thut ton c lng qui (tt) Chng minh thut ton c lng qui (tt)
) ( ) ( ) (
1
k f k R k

=
)] ( ) ( ) 1 ( )[ (
1
k y k k f k R + =

)] ( ) ( ) 1 (
) 1 ( )[ (
1
k y k k k R k R + =

{ } ) ( ) ( ) 1 (
)] ( ) ( ) ( [ ) (
1
k k k k k k R k R
T
{ } ) ( ) ( ) 1 ( )] ( ) ( ) ( [ ) (
1
k y k k k k k R k R
T
+ =

)] 1 (
) ( ) ( )[ ( ) ( ) 1 (
1
+ =

k k k y k k R k
T

) ( ) ( ) 1 ( ) ( k k k R k R
T
+ =
) ( ) ( ) 1 ( ) ( k y k k f k f + =
Thut ton qui khng tnh nghch o ma trn Thut ton qui khng tnh nghch o ma trn
) ( ) ( ) ( ) 1 (
) (
1
k k k R k k

+ =
t: ) ( ) (
1
k R k P

=
) ( ) ( ) ( ) 1 ( ) ( k k k R k k + =

) 1 ( ) ( ) ( ) 1 ( 1 k P k k k P
T

+
=
) ( ) 1 ( ) (
) 1 ( ) ( ) ( ) 1 (
) 1 (
1
) (
k k P k
k P k k k P
k P k P
T

) ( ) 1 (
) ( ) (
1
k k P
k k R
T

Thut ton c lng qui khng tnh nghch o ma trn:

) ( ) 1 ( ) (
) ( ) (
k k P k
T

) ( ) ( ) 1 (
) (
k k L k k + =
) 1 (
) ( ) ( ) ( = k k k y k
T

) ( ) 1 ( k k P
) ( ) 1 ( ) (
) ( ) 1 (
) (
k k P k
k k P
k L
T

+

=
) 1 ( ) ( ) ( ) 1 (
) 1 (
1
) (
k P k k k P
k P k P
T

+
=
) ( ) 1 ( ) (
) ( ) ( ) ( ) (
) 1 ( ) (
k k P k
k P k P
T

IU KHIN THEO M HNH CHUN IU KHIN THEO M HNH CHUN IU KHIN THEO M HNH CHUN IU KHIN THEO M HNH CHUN
Lut iu khin tuyn tnh ni tip Lut iu khin tuyn tnh ni tip
u
y u
c
R
S
A
B
) ( y u
R
S
u
c
=
Sy Su Ru
c
= Lut iu khin:

Cu trc iu khin tuyn tnh quen thuc trn c hn ch l khng
linh hot c th iu khin h thng kn bm hon ho theo m
hnh chun hnh chun.
Lut iu khin tuyn tnh tng qut Lut iu khin tuyn tnh tng qut
T
B
u
y u
c
R
T
A
B
R
S
u
y
u
c
B u
y
Sy Tu Ru
c
=
A
B
S T
S T R L t i khi
y
R
u
R
u
c
=
Sy Tu Ru
c
= Lut iu khin:

H thng iu khin theo m hnh chun H thng iu khin theo m hnh chun
i i khi
) ( ) (
B
i tng iu khin:
) ( ) ( t u
A
t y =
Lut iu khin tuyn tnh tng qut: ) ( ) ( ) ( t Sy t Tu t Ru
c
=
Bi ton t ra l thit k R, T, S p ng ca h kn bm theo m
hnh chun:
) ( ) ( t u
A
B
t y
c
m
m
=
A
c
m
m
m
B
y
m
(t)
u(t)
y(t) u
c
(t)
T
B
m
A
( )
y( )
c
R

S
A
R
iu kin thit k HTK theo m hnh chun iu kin thit k HTK theo m hnh chun
So snh hm truyn h kn vi m hnh chun: So snh hm truyn h kn vi m hnh chun:
) ( ) ( t u
BS AR
BT
t y
c
+
=
) ( ) ( t u
A
B
t y
c
m
m
m
=
t c p ng vng kn mong mun, cn c iu kin:
Phng trnh c trng ca h kn phi c cc cc trng vi cc
cc ca m hnh chun tc l AR + BS phi chia ht cho A cc ca m hnh chun, tc l AR + BS phi chia ht cho A
m
Cc zero nm bn tri mt phng phc ca B phi c trit tiu
bi cc cc ca h kn. Gi s c th phn tch B = B
+
B
(B
+
i b t i t h h ) i monic gm cc zero nm bn tri mt phng phc), cn c iu
kin AR + BS phi chia ht cho B
+
+
= + B A A BS AR
m 0
(Phng trnh Diophantine)

S
m 0
+ + +
= + B A A S B B B AR
m 0 1
c th kh B
+
, R phi c dng:
+
= B R R
1
(Phng trnh Diophantine)

m 0 1
m
A A S B AR
0 1
= +

iu kin thit k HTK theo m hnh chun (tt) iu kin thit k HTK theo m hnh chun (tt)
Vi cc iu kin trn hm truyn h kn tr thnh: Vi cc iu kin trn, hm truyn h kn tr thnh:
) ( ) (
0
t u
B A A
T B B
t y
c
+
+
=
0
B A A
m
Rt gn B
+
v so snh vi m hnh mu:
T B
) ( ) (
B
) ( ) (
0
t u
A A
T B
t y
c
m
=
) ( ) ( t u
A
B
t y
c
m
m
m
=
iu kin hm truyn h kn ng bng m hnh mu l: iu kin hm truyn h kn ng bng m hnh mu l:
m m
B B B

=

B A T

=
m
B A T =
0
iu kin m bo tn ti li gii bi ton K theo m hnh chun:
1 ) ( ) ( ) ( 2 ) (
0

+
B A A A bac bac bac bac
1 ) ( ) ( ) ( 2 ) (
0
B A A A
m
bac bac bac bac
) ( ) ( ) ( ) ( B A B A
m m
bac bac bac bac
Phng trnh Diophantine Phng trnh Diophantine
Dng tng qut phng trnh Diophantine (hay cn gi l phng Dng tng qut phng trnh Diophantine (hay cn gi l phng
trnh Bezout)
m
A BS AR = +
m
Phng trnh Diophantine c v s nghim
Nu R
0
v S
0
l nghim ca phng trnh Diophantine th Nu R
0
v S
0
l nghim ca phng trnh Diophantine th
QA S S
QB R R
=
+ =
0
0
cng l nghim ca phng trnh Diophantine, vi Q l a thc bt k
Phng php n gin tm nghim phng trnh Diophantine: g p p g g p g p
Chn bc ca a thc R v S ph hp
Cn bng cc h s ca phng trnh Diophantine s tm c

cc h s ca R v S
Trnh t thit k b iu khin theo m hnh chun Trnh t thit k b iu khin theo m hnh chun
i h h h ) ( ) (
B
) ( ) (
m
B
Bc 1: Phn tch B di dng:
+
= B B B
i tng: M hnh chun: ) ( ) ( t u t y
A
B
= ) ( ) ( t u t y
c
m
m
A
=
m m
B B B

=

Bc 2: Kim tra m hnh mu c tha mn iu kin tn ti li gii:
) ( ) ( ) ( ) ( B A B A bac bac bac bac
1 ) ( ) ( ) ( 2 ) (
0

+
B A A A
m
bac bac bac bac
) ( ) ( ) ( ) ( B A B A
m m
bac bac bac bac
Bc 3: Chn bc ca A
0
tha mn iu kin tn ti li gii:
Bc 4: Chn bc ca S v R
1
:
) ( ) ( ) ( ) (
0 1
A A A R
m
bac bac bac bac + =
{ }
Bc 5: Tnh S v R
1
bng cch gii ptrnh:
m
A A S B AR
0 1
= +

{ } ) ( ) ( ) ( [ )], ( ) ( min ) (
0 1
+
+ + = B A A B R S
m
bac bac bac bac [bac bac
m
B A T

=
0
+
= B R R
1
Bc 6: Tnh R v T:
iu khin theo m hnh chun iu khin theo m hnh chun Th d 1 Th d 1

) (
2
) (
p +
Cho i tng iu khin lin tc:
) (
5 6
) (
2
t u
p p
p
t y
+ +
=
Hy thit k lut iu khin tuyn tnh tng qut: ) ( ) ( ) ( t Sy t Tu t Ru =
) (
16
) (
2
t u t y =
Hy thit k lut iu khin tuyn tnh tng qut:
sao cho p ng ca h thng kn bm theo m hnh chun:
) ( ) ( ) ( t Sy t Tu t Ru
c
) (
16 8
) (
2
t u
p p
t y
c m
+ +
m
B
y
m
(t)
u(t)
y(t) u
c
(t)
T
B
m
A
( )
y( )
c
( )
R

S
A
R
Gii:
+
= B B B
+ =
+
) 2 ( p B
Gii:
Bc 2: Kim tra cc iu kin tn ti li gii:
=
+
1
) 2 (
B
p B
m m
B B B

=


16 =
m
B
3 2 1 3 2 1 43 42 1 43 42 1
1
) (
2
) (
0
) (
2
) ( B A B A
m m
bac bac bac bac
Bc 3: Chn bc A
0
:
0 1
1
) (
2
) (
2
) ( 2 ) (
0
=
+
43 42 1 43 42 1 3 2 1
B A A A
m
bac bac bac bac
Bc 3: Chn bc A
0
:
2
Chn bc A
0
bng 0 A
0
= 1
Bc 4: Chn bc R
1
v S: Bc 4: Chn bc R
1
v S:
) ( ) ( ) ( ) (
0 1
A A A R
m
bac bac bac bac + = 0 2 2 0 = + =
{ } )] ( ) ( ) ( [ )], ( ) ( min ) (
0 1
+
+ + = B A A B R S
m
=
0 1
r R
{ }
{ } 1 ] 0 2 0 [ ], 1 0 min = + + = [
Bc 5: Tnh S v R
1
bng cch gii phng trnh Diophantine:
+ =
1 0
s p s S
m
A A S B AR
0 1
= +

) 16 8 ( ) ( ) 5 6 (
2
1 0 0
2
+ + = + + + + p p s p s r p p
) 16 8 ( ) 5 ( ) 6 (
2 2
) 16 8 ( ) 5 ( ) 6 (
2
1 0 0 0
2
0
+ + = + + + + p p s r p s r p r
=
=
2
1
0
s
r
=1
1
R
=
=
11
2
1
0
s
s
+ = 11 2p S

Bc 6: Tnh R T:
B A T

=
Bc 6: Tnh R v T:
+
= B R R
1

) 2 ( + = p R
16 T
m
B A T =
0
Kt lun: H thng iu khin theo m hnh chun sau khi thit k:
16 = T
16 8
16
2
+ + p p
y
m
(t)
u(t)
y(t) u
c
(t)
16 8 + + p p
5 6
2
2
+ p
2
16
11 2 + p
5 6
2
+ + p p
2 + p
2 + p
M phng h thng iu khin theo m hnh chun dng Matlab M phng h thng iu khin theo m hnh chun dng Matlab
0.5
1
ym
y
0 5 10 15 20
0
2
3
4
u
0 5 10 15 20
-1
0
1
0 5 10 15 20
Kt qu m phng: p ng ca h thng bm theo m hnh chun
mt cch hon ho nu thng s ca i tng ng bng tr danh
nh khi thit k
1 5
0.5
1
1.5
ym
y
0 5 10 15 20
0
0.5
1.5
2
2.5
u
0
0.5
1
1.5
0 5 10 15 20
Kt qu m phng: p ng ca h thng khng bm tt theo m
hnh chun nu thng s ca i tng thay i khc gi tr danh
nh khi thit k

) (
5
) (
p +
Cho i tng iu khin lin tc:
) (
) 13 4 (
5
) (
2
t u
p p p
p
t y
+ +
=
Hy thit k lut iu khin tuyn tnh tng qut: ) ( ) ( ) ( t Sy t Tu t Ru =
) (
180
) (
2
t u t y =
Hy thit k lut iu khin tuyn tnh tng qut:
sao cho p ng ca h thng kn bm theo m hnh chun:
) ( ) ( ) ( t Sy t Tu t Ru
c
) (
) 3 )( 20 (
) (
2
t u
p p
t y
c m
+ +
m
B
y
m
(t)
u(t)
y(t) u
c
(t)
T
B
m
A
( )
y( )
c
( )
R

S
A
R
Gii:
+
= B B B
+ =
+
) 5 ( p B
Gii:
1
) (
B
p
m m
B B B

=

g
180 =
m
B
3 2 1 3 2 1 43 42 1 43 42 1
1
) (
3
) (
0
) (
3
) ( B A B A
m m
bac bac bac bac
Bc 3: Chn bc A
0
:
1 1
1
) (
3
) (
3
) ( 2 ) (
0
=
+
43 42 1 43 42 1 3 2 1
B A A A
m
bac bac bac bac
Bc 3: Chn bc A
0
:
Chn bc A
0
bng 1 1
0
+ = p A
Bc 4: Chn bc R
1
v S: Bc 4: Chn bc R
1
v S:
) ( ) ( ) ( ) (
0 1
A A A R
m
bac bac bac bac + =
1 3 3 1 = + =
{ } )] ( ) ( ) ( [ )] ( ) ( min ) (
+
+ + = B A A B R S bac bac bac bac [bac bac
R
{ } )] ( ) ( ) ( [ )], ( ) ( min ) (
0 1
+ + = B A A B R S
m
{ } 2 ] 0 3 1 [ ], 1 1 min = + + = [
+ + =
+ =
2 1
2
0
1 0 1
s p s p s S
r p r R
Bc 5: Tnh S v R
1
m
A A S B AR
0 1
= +

m 0 1
2
2 1
2
0 1 0
2
) 3 )( 20 )( 1 ( ) ( ) )( 13 4 ( + + + = + + + + + + p p p s p s p s r p r p p p
= + + + + + + + +
2 1 1
2
0 1 0
3
1 0
4
0
) 13 ( ) 4 13 ( ) 4 ( s p s r p s r r p r r p r
180 309 155 27
2 3 4
+ + + + p p p p
2 1 1 0 1 0 1 0 0
1
1 r
= + +
= +
=
155 4 13
27 4
1
0 1 0
1 0
0
s r r
r r
r
=
=
=
50
23
1
0
1
0
s
r
r
+ +
+ =
180 10 50
23
2
1
p p S
p R
=
= +
180
309 13
2
1 1
s
s r
=
=
180
10
2
1
s
s

+ + = 180 10 50 p p S
Bc 6: Tnh R v T:
+
= B R R
1

) 5 )( 23 ( + + = p p R
m
B A T

=
0
) 1 ( 180 + = p T
Kt lun:
180 10 50
2
+ + = p p S
= + + + + + + + +
2 1 1
2
0 1 0
3
1 0
4
0
) 13 ( ) 4 13 ( ) 4 ( s p s r p s r r p r r p r
Kt lun:
180 10 50 + + = p p S
) 1 ( 180 + = p T
) 5 )( 23 ( + + = p p R
180 309 155 27
2 3 4
+ + + + p p p p
H thng iu khin theo m hnh chun sau khi thit k:
180
y (t)
2
) 3 )( 20 (
180
+ + p p
y
m
(t)
u(t)
y(t) u
c
(t)
) 13 4 (
5
2
+ +
+ p
) 23 )( 5 (
) 1 ( 180 + p
) 13 4 (
2
+ + p p p
) 23 )( 5 ( + + p p
) 23 )( 5 (
180 10 50
2
+ +
+ +
p p
p p
M phng h thng iu khin theo m hnh chun dng Matlab M phng h thng iu khin theo m hnh chun dng Matlab
0.5
1
ym
y
0 5 10 15 20
0
0
3
6
u
0 5 10 15 20
-6
-3
0
Kt qu m phng: p ng ca h thng bm theo m hnh chun
0 5 10 15 20
nh khi thit k
0.5
1
ym
y
0 5 10 15 20
0
0
3
6
u
0 5 10 15 20
-6
-3
0
Kt qu m phng: p ng ca h thng khng bm tt theo m
hnh chun nu thng s ca i tng thay i khc gi tr danh
0 5 10 15 20
nh khi thit k
H THCH NGHI H THCH NGHI
THEO M HNH CHUN THEO M HNH CHUN THEO M HNH CHUN THEO M HNH CHUN
(Model Reference Adaptive System (Model Reference Adaptive System MRAS) MRAS)
Hn ch ca h thng iu khin theo m hnh chun Hn ch ca h thng iu khin theo m hnh chun
y (t)
M hnh chun
y
m
(t)
y(t)
B iu khin
u
c
(t)
i tng
u(t)
B iu khin
i tng
Cht lng iu khin khng m bo bm theo m hnh chun khi:
khng bit chnh xc thng s i tng khng bit chnh xc thng s i tng
hoc thng s i tng thay i trong qu trnh hot ng
i khi th h hi th h h h (MRAS)
iu khin thch nghi theo m hnh chun (MRAS)
S khi h thch nghi theo m hnh chun S khi h thch nghi theo m hnh chun
y (t)
M hnh chun
y
m
(t)
C cu
chnh nh
y(t)
B iu khin
u
c
(t)
i tng
u(t)
B iu khin i tng
C cu chnh nh c chc nng cp nht thng s ca b iu khin
m bo p ng ca h thng bm theo m hnh chun khi
g g
thng s i tng thay i
Pht biu bi ton MRAS Pht biu bi ton MRAS
i i khi
) ( ) (
B
i tng iu khin:
) ( ) ( t u
A
t y =
M hnh chun:
) ( ) ( t u
B
t y
c
m
m
=
M hnh chun:
) ( ) ( t u
A
t y
c
m
m
Lut iu khin tuyn tnh tng qut:
Sai s gia ng ra i tng v ng ra m hnh chun:
) ( ) ( ) ( t Sy t Tu t Ru
c
=
Yu cu: xc nh cu trc (hay bc) ca cc a thc R, T, S v tm
) ( ) ( ) ( t y t y t e
m
=
Yu cu: xc nh cu trc (hay bc) ca cc a thc R, T, S v tm
lut cp nht cc thng s ca R, T, S sao cho:
0 ) ( t e
Chn cu trc ca b iu khin tuyn tnh tng qut Chn cu trc ca b iu khin tuyn tnh tng qut
B
y
m
(t)
u(t)
y(t)
u
c
(t)
T
B
m
m
A
B
y
m
(t)
( )
R

R
S
A
Bc ca cc a thc R, T, S c chn sao cho:
iu kin tn ti li gii bi ton iu khin theo m hnh chun
R
iu kin tn ti li gii bi ton iu khin theo m hnh chun
c tha mn
phng trnh Diophantine c nghim
t vector thng s ca b iu khin l :
T
m m n
S T R
s s s t t t r r r ] ,..., , , ,..., , , ,..., , [
1 0 1 0 1 0
=
m m n
S T R
] , , , , , , , , , , , [
1 0 1 0 1 0
T S R
m m n , , tng ng l bc ca cc a thc T S R , ,
Lut MIT Lut MIT
Ch h i h l
2
1
Chn ch tiu cht lng:
2
2
1
e J =
Cn tm lut cp nht thng s sao cho: min J
Lut MIT (do Massachusetts Institude of Technology xut):

=
e
e
d
) 0 ( >

= e
dt

T T
) 0 ( >
D thy vi lut MIT, ta c:
0
2
= =

e e
e
dt
d e
e e e
dt
dJ
T T
&
J gim dn theo thi gian n gi tr cc tiu
thc hin lut MIT cn xc nh biu thc sai s v nhy ca
y
sai s theo thng s ca b iu khin
Sai s gia tn hiu ra ca h thng v m hnh chun Sai s gia tn hiu ra ca h thng v m hnh chun
B
y
m
(t)
u(t)
y(t)
u
c
(t)
T
B
m
m
A
B
y
m
(t)
( )
R

R
S
A
Tn hiu ra h thng iu khin kn: ) ( ) ( t u
BS AR
BT
t y
c
+
=
R
Tn hiu iu khin: ) ( ) ( t u
BS AR
AT
t u
c
+
=
Sai s gia tn hiu ra ca h thng v m hnh chun
) ( ) ( ) ( ) ( ) ( t u
B
t u
BT
t y t y t e
m
) ( ) ( ) ( ) ( ) ( t u
A
t u
BS AR
t y t y t e
c
m
m
c m

+
= =
nhy ca sai s theo thng s ca b iu khin nhy ca sai s theo thng s ca b iu khin
p dng qui tc ly o hm ring phn suy ra: p dng qui tc ly o hm ring phn, suy ra:
) ,..., 0 (
T
m i =
c
i m
i
u
BS AR
Bp
t
e
T
+
=

) ,..., 0 (
S
m i =
i
BS AR t +
y
BS AR
Bp
e
i m
S
+
=

c
i m
i
u
BS AR
Tp B
s
e
S
2
2
) ( +
=

) ,..., 1 (
R
n i =
i
) (
u
BS AR
Bp
e
i n
R
+
=

c
i n
i
u
BS AR
BTAp
r
e
R
2
) ( +
=

i
) (
) ( ) ( ) ( t u
B
t u
BT
t e
m
) ( ) ( ) ( t u
A
t u
BS AR
t e
c
m
m
c

+
=
Lut MIT c th cho tng thng s Lut MIT c th cho tng thng s
Lut MIT c th cho tng thng s ca b iu khin: Lut MIT c th cho tng thng s ca b iu khin:
) ,..., 0 (
T
m i =
c
i m
i
u
BS AR
Bp
e
dt
dt
T
+
=

) ,..., 0 (
S
m i =
BS AR dt +
y
BS AR
Bp
e
dt
ds
i m
i
S
+
=

) ,..., 1 (
R
n i =
BS AR dt +
u
BS AR
Bp
e
dt
dr
i n
i
R
+
=

Khng th p dng cc cng thc trn cp nht thng s ca b

iu khin do ta khng bit A v B
e d
iu khin do ta khng bit A v B
Cn tm cng thc gn ng khng lin quan n A v B

= e
dt

Thit k lut MIT gn ng cho h MRAS Thit k lut MIT gn ng cho h MRAS
p ng ca h kn bm theo m hnh chun trng thi xc lp p ng ca h kn bm theo m hnh chun, trng thi xc lp
ta c iu kin:
+
= + B A A BS AR
m 0
+
= B B B trong
Nu B khng c nghim bn phi mt phng phc: B
= hng s = b
0
C th gp |b
0
| vo h s thch nghi , v ch n du ca b
0
trong
cc cng thc cp nht thng s b iu khin cc cng thc cp nht thng s b iu khin .
i m
p b dt
T
) sgn(

Lut MIT gn ng cp nht thng s:
c
m
i
u
A A
p b
e
dt
dt
0
0
) sgn(
=
p b ds
i m
i
S
0
) sgn(

) ,..., 0 (
T
m i =
p b dr
i n
R
0
) sgn(

y
A A
p b
e
dt
ds
m
i
0
0
) sgn(
=
) ,..., 0 (
S
m i =
u
A A
p b
e
dt
dr
m
i
0
0
) sgn(
=
) ,..., 1 (
R
n i =
Trnh t thit k b iu khin thch nghi theo m hnh chun Trnh t thit k b iu khin thch nghi theo m hnh chun
i h h h ) ( ) (
B
) ( ) (
B
m
+
= B B B
i tng: M hnh chun: ) ( ) ( t u
A
B
t y = ) ( ) ( t u
A
t y
m
m
=
m m
B B B

=

Bc 2: Kim tra m hnh chun c tha mn .kin tn ti li gii:
) ( ) ( ) ( ) ( B A B A
m m
bac bac bac bac
Bc 3: Chn bc ca A
0
:
1 ) ( ) ( ) ( 2 ) (
0
=
+
B A A A
m
bac bac bac bac
Bc 4: Chn bc ca R, T, S :
) ( ) ( ) ( ) ( ) (
0
+
+ + = B A A A R
m
bac bac bac bac bac
) ( ) ( ) (
0 m
B A T

+ = bac bac bac
)]} ( ) ( ) ( [ ), ( min{ ) (
0

+ = B A A R S
m
bac bac bac bac bac
Trnh t thit k b iu khin thch nghi theo m hnh chun Trnh t thit k b iu khin thch nghi theo m hnh chun
Bc 5: Vit c th lut MIT gn ng cp nht tng thng s s Bc 5: Vit c th lut MIT gn ng cp nht tng thng s s
dng cng thc:
i m
i
u
p b
e
dt
T
0
) sgn(

=
) 0 ( m i =
c
m
u
A A
e
dt
0
=
y
p b
e
ds
i m
i
S
0
) sgn(

=
) ,..., 0 (
T
m i =
) 0 (
S
m i =
u
p b
e
dr
i n
i
R
0
) sgn(

=
y
A A
e
dt
m 0
=
) ,..., 0 (
S
m i
) 0 ( n i =
u
A A
e
dt
m 0
=
) ,..., 0 (
R
n i =
Bc 6: M phng h thng, chn h s ph hp
Ch : Trong mt s trng hp n gin, khi c th xc nh c
ngay b iu khin c cu trc ph hp th khng cn thc hin cc
ngay b iu khin c cu trc ph hp th khng cn thc hin cc
bc 1-4. S dng lut MIT tng qut rt ra lut cp nht thng s
iu khin thch nghi theo m hnh chun iu khin thch nghi theo m hnh chun Th d 1 Th d 1
Ch i i khi ) ( ) (
b
Cho i tng iu khin: ) ( ) ( t u
a p
b
t y
+
=
Gi s ta khng bit chnh xc a v b
2
Yu cu: Thit k h thng iu khin thch nghi sao cho p ng
ca h thng bm theo m hnh chun:
) (
2
2
) ( t u
p
t y
c m
+
=
Gii:
+
b B
Bc 1: Phn tch B di dng
+
= B B B
B 2 Ki t h h h th ki t t i li ii
=
=
+
1 B
b B
m m
B B B

=

2 =
m
B

3 2 1 3 2 1 43 42 1 43 42 1
0
) (
1
) (
0
) (
1
) ( B A B A
m m
bac bac bac bac
Bc 3: Chn bc ca A :
1 ) ( ) ( ) ( 2 ) (
0
=
+
B A A A
m
bac bac bac bac
Bc 3: Chn bc ca A
0
:
0 1 0 1 2 = =
Chn 1 A Chn 1
0
= A
0 0 1 1 0 ) ( ) ( ) ( ) ( ) ( + + + +
+
B A A A R bac bac bac bac bac 0 0 1 1 0 ) ( ) ( ) ( ) ( ) (
0
= + + = + + = B A A A R
m
bac bac bac bac bac
0 0 0 ) ( ) ( ) (
0
= + =
+ =
m
B A T bac bac bac
)]} ( ) ( ) ( [ ) ( min{ ) (

+ = B A A R S bac bac bac bac bac
Lut iu khin :
) ( ) ( ) (
0 0 0
t y s t u t t u r
c
=
)]} ( ) ( ) ( [ ), ( min{ ) (
0
+ = B A A R S
m
bac bac bac bac bac
0 ]} 0 1 0 [ , 0 min{ = + =
Lut iu khin :
) ( ) ( ) (
0 0 0
y
c
V t th ht l
T
t ] [
Khng mt tnh tng qut, chn: 1
0
= r
Vector thng s cn cp nht l:
T
s t ] , [
0 0
=
2
2
+ p
y
m
(t)
2 + p
Chnh nh ???
e(t)
y(t) u
c
(t)
t
b
u(t)
y( )
c
( )
0
t

a p +
0
s
Bc 5: Vit c th lut MIT gn ng cp nht tng thng s:
+
=
+
=
c c
u
p
e u
a p
e
dt
dt
2
1 1
0


+

+
m
p a p dt 2
+
=
+
= y
p
e y
a p
e
dt
ds
2
1 1
0

+ p a p dt
m
2
i m
i
p b dt
T
0
) sgn(

) 0 (
trong sai s gia ng ra i tng v ng ra m hnh chun:
) ( ) ( ) ( t t t
c
m
i
u
A A
p b
e
dt
dt
0
0
) sgn(
=
p b ds
i m
i
S
0
) sgn(

) ,..., 0 (
T
m i =
) 0 (i
) ( ) ( ) ( t y t y t e
m
=
p b dr
i n
i
R
0
) sgn(

y
A A
p
e
dt
m
i
0
0
) g (
=
) ,..., 0 (
S
m i =
) 0 (
u
A A
p
e
dt
m
i
0
0
) g (
=
) ,..., 0 (
R
n i =
0
0.5
1
0 10 20 30 40 50 60 70 80 90 100
-1
-0.5
0 10 20 30 40 50 60 70 80 90 100
5
0
0 20 40 60 80 100
-5
Kt qu iu khin thch nghi: sau 1 vi chu k cp nht thng s
Kt qu iu khin thch nghi: sau 1 vi chu k cp nht thng s,
p ng ca h thng iu khin bm rt tt theo m hnh chun

) ( ) (
b
i tng iu khin:
) (
) 1 (
) ( t u
p p
b
t y
+
=
Trong b l thng s cha bit ca i tng. g g g
Gi s b thay i trong min [0.110]
h h b h h h h
) (
1
1
) (
2
t u
p p
t y
c m
+ +
=
1 p p + +
Gii:
D thy b iu khin t l:
l ph hp i bi ton n tn hi ra ca h thng kn l:
)) ( ) ( ( ) ( t y t u K t u
c
=
) ( ) (
2
t u
Kb p p
Kb
t y
c
+ +
=
l ph hp vi bi ton ny v tn hiu ra ca h thng kn l:
p p
C th chnh c K p ng h kn ging m hnh chun
1
1
2
+ + p p
y
m
(t)
1 + + p p
Chnh nh ???
e(t)
u(t)
y(t) u
c
(t) b
y( )
c
( )
) 1 ( + p p
K
Sai s gia tn hiu ra ca h kn v tn hiu ra ca m hnh: Sai s gia tn hiu ra ca h kn v tn hiu ra ca m hnh:
) (
1
1
) (
2 2
t u
p p bK p p
bK
t e
c
+ +
+ +
=
Lut MIT cp nht thng s b iu khin:
1 p p bK p p

+ + + +
p p b e
2
) ( +
e dK
c
u
bK p p
p p b
K
e
2 2
) (
) (
+ +
+
=
K
e
e
dt
dK
=
trong

2
p p +
D thy rng:
) ( ) (
2
t u
bK p p
p p
t u
c
+ +
+
=
b K
Ch l khng th dng cng thc trn cp nht thng s b iu
+ +
=
u
bK p p
b
e
t
K
2

Ch l khng th dng cng thc trn cp nht thng s b iu
khin v ta khng bit b.
Xp x lut MIT: Xp x lut MIT:
ch rng trng thi ti u, a thc c trng ca h thng iu
khin vng kn ng nht bng a thc c trng ca m hnh
h l chun, tc l:
1
2 2
+ + = + + p p bK p p
Gp thng s b t s ca cc cng thc cp nht thng s b Gp thng s b t s ca cc cng thc cp nht thng s b
iu khin vo h s thch nghi
h h b i khi h Lut MIT gn ng cp nht thng s b iu khin nh sau:
u e
K 1
2
+ +
u
p p
e
t 1
2
Chn = 0.1
Kt qu m phng khi b =0 1
1
2
Kt qu m phng khi b =0.1
-1
0
0 50 100 150 200 250 300
-2
1
ym
y
10
20
-10
0
0 50 100 150 200 250 300
-20
u
1
2
-1
0
0 50 100 150 200 250 300
-2
ym
y
1
2
-1
0
0 50 100 150 200 250 300
-2
u
1
2
-1
0
ym
0 50 100 150 200 250 300
-2
ym
y
0.2
0.4
-0.2
0
0 50 100 150 200 250 300
-0.4
u
1
2
-1
0
0 50 100 150 200 250 300
-2
ym
y
0.1
0.2
-0.1
0
0 50 100 150 200 250 300
-0.2
u
i i khi
) ( ) (
a p +
i tng iu khin:
) ( ) (
2
t u
c bp p
a p
t y
+ +
=
Trong a, b, v c l cc thng s cha bit ca i tng.
16
) (
16 8
16
) (
2
t u
p p
t y
c m
+ +
=
Gii:
+
B
Bc 1: Phn tch B di dng
+
= B B B
B 2 Ki t h h h th ki t t i li ii
=
+ =
+
1 B
a p B
m m
B B B

=

16 =
m
B

3 2 1 3 2 1 43 42 1 43 42 1
1
) (
2
) (
0
) (
2
) ( B A B A
m m
bac bac bac bac
Bc 3: Chn bc ca A :
1 ) ( ) ( ) ( 2 ) (
0
=
+
B A A A
m
bac bac bac bac
Bc 3: Chn bc ca A
0
:
0 1 1 2 4 = =
Chn 1 A Chn 1
0
= A
1 1 2 2 0 ) ( ) ( ) ( ) ( ) ( + + + +
+
B A A A R bac bac bac bac bac 1 1 2 2 0 ) ( ) ( ) ( ) ( ) (
0
= + + = + + = B A A A R
m
bac bac bac bac bac
0 0 0 ) ( ) ( ) (
0
= + =
+ =
m
B A T bac bac bac
)]} ( ) ( ) ( [ ) ( min{ ) (

+ = B A A R S bac bac bac bac bac
Lut iu khin :
) ( ) ( ) ( t Sy t Tu t Ru
c
=
)]} ( ) ( ) ( [ ), ( min{ ) (
0
+ = B A A R S
m
bac bac bac bac bac
1 ]} 0 2 0 [ , 1 min{ = + =
Lut iu khin :
) ( ) ( ) ( y
c
V t th ht l
T
] [
Khng mt tnh tng qut, chn: 1
0
= r
Vector thng s cn cp nht l:
T
s s t r ] , , , [
1 0 0 1
=
16 8
16
2
+ + p p
y
m
(t)
16 8 + + p p
Chnh nh ???
e(t)
y(t) u
c
(t) 2 + p
T
u(t)
y( )
c
( )
5 6
2
+ + p p
p
S
R
R
S
+ +
=
c
u
p p
e
dt
dt
) 16 8 (
1
2
0

p p ) (
+ +
= y
p p
p
e
dt
ds
16 8
2
0
+ +
= y
p p
e
dt
ds
16 8
1
2
1
c
m
i m
i
u
A A
p b
e
dt
dt
T
0
0
) sgn(

=
p b ds
i m
S
) sgn(

+ +
= u
p p
e
dt
dr
16 8
1
2
1

+ + p p dt 16 8
p b dr
i n
i
R
0
) sgn(

y
A A
p b
e
dt
ds
m
i
S
0
0
) sgn(
=

+ + p p dt 16 8
u
A A
p b
e
dt
dr
m
i
0
0
) sgn(
=
Kt qu m phng khi a =2 0 b =6 0 c =5 0
1
Kt qu m phng khi a =2.0, b =6.0, c =5.0
0
ym
0 25 50 75 100
-1
y
y
0
4
8
8
-4
0
u
0 25 50 75 100
-8
Khuyt im ca h MRAS dng lut MIT Khuyt im ca h MRAS dng lut MIT
Khng m bo tnh n nh ca h thng kn trong qu trnh thch Khng m bo tnh n nh ca h thng kn trong qu trnh thch
nghi (qu trnh cp nht thng s)
Khng m bo thng s ca b iu khin hi t n thng s g g g
ng cho d chn cu trc iu khin ph hp.
Cht lng iu khin ca h MRAS b nh hng b gi tr khi
u ca cc thng s u ca cc thng s.
Cht lng h thng iu khin thch nghi theo m hnh chun ph
thuc vo h s thch nghi g
nh: h thch nghi chm
ln: h thch nghi nhanh nhng c th gy mt n nh
H IU KHIN T CHNH H IU KHIN T CHNH
(Self Tuning Regulator (Self Tuning Regulator STR) STR)
Khi nim v h iu khin t chnh Khi nim v h iu khin t chnh
Qu trnh thit k h thng iu khin gm 2 bc chnh: Qu trnh thit k h thng iu khin gm 2 bc chnh:
M hnh ha/nhn dng m hnh ca i tng
Thit k b iu khin (c th l PID, phn b cc, ton phng Thit k b iu khin (c th l PID, phn b cc, ton phng
tuyn tnh LQ, iu khin theo m hnh chun MRC,) da
trn m hnh ton nhn dng
H iu khin t chnh l h thng c thit k nhm thc hin 2
bc nhn dng thng s m hnh v tnh ton lut iu khin mt
cch t ng g
S khi tng qut h iu khin t chnh S khi tng qut h iu khin t chnh
Thit k b
Tiu chun
thit k
Thng s i tng
c lng
Thit k b
iu khin
thit k
g g
Thng s
y
u
c
c lng
Thng s
iu khin
u
y
B iu khin
c
i tng
H iu khin t chnh trc tip H iu khin t chnh trc tip
c lng trc
tuyn thng s
iu khin iu khin
c
u
y
B iu khin
u
c
i tng
G() )) ( ( k G
c c

H iu khin t chnh trc tip: c lng trc tip thng s b H iu khin t chnh trc tip: c lng trc tip thng s b
iu khin m khng cn nhn dng m hnh ton ca i tng.
Nu tiu chun c lng l ti thiu sai lch gia tn hiu ra ca
i tng v m hnh chun MRAS ( cp phn trc)
H iu khin t chnh gin tip H iu khin t chnh gin tip
Tnh thng s
iu khin
)) (
( ) ( k F k =
) (
k
c lng trc
tuyn ) (
k
)) ( ( ) ( k F k
c
=
y(k)
B iu khin
u
c
(k)
i tng
u(k)
G() )) ( ( k G
c c

H iu khin t chnh gin tip: c lng trc tuyn thng s m
hnh i tng, sau tnh ton thng s b iu khin da vo
thng s m hnh c lng c s trnh by tip theo
Trnh t thit k b iu khin t chnh gin tip Trnh t thit k b iu khin t chnh gin tip
Bc 1: Vit cc cng thc c lng bnh phng ti thi q i Bc 1: Vit cc cng thc c lng bnh phng ti thiu qui
cp nht trc tuyn thng s ca i tng (hm truyn hoc
phng trnh trng thi).
Bc 2: Vit biu thc xc nh lut iu khin l hm ca tham s
ca i tng cp nht bc 1.
iu khin PID
iu khin theo m hnh chun
i khi h b iu khin phn b cc
iu khin LQR

Bc 3: M phng hoc thc nghim chn h s qun ca gii thut
c lng bnh phng ti thiu ph hp.
c lng bnh phng ti thiu ph hp.
iu khin t chnh gin tip iu khin t chnh gin tip Th d 1 Th d 1 PI PI
Cho i tng bc 2 c thng s cha bit ri rc ha i tng vi Cho i tng bc 2 c thng s cha bit, ri rc ha i tng vi
chu k ly mu T = 0.1 (sec) ta c hm truyn c dng:
) ( ) ( k
b
k ) ( ) ( k u
a q
k y
+
=
Hy thit k b iu khin PI t chnh sao cho h thng kn c cp
cc phc vi v .
707 . 0 = 4 =
n
l c lng
b a
y(k) r(k)
a z
b
+
1
1
2
+
+
z
z T K
K
I
P
Gii:
Bc 1: Xy dng cc cng thc c lng trc tuyn thng s
hm truyn ri rc ca i tng:
Gii:
1
1
1 1
1 ) (
) (
) (

+
=
+
= =
z b b
U
z Y
z G
y g
Ta c:
1
1 1
1 ) ( + + z a a z z U
) ( ) ( ) ( ) 1 (
1
1
1
1
z U z b z Y z a

= +
) 1 ( ) 1 ( ) ( k b k k
[ ]
T
k u k y k ) 1 ( ) 1 ( ) ( =
) 1 ( ) 1 ( ) (
1 1
+ = k u b k y a k y
t:
[ ]
T
b a
1 1
=
) ( ) ( k k y
T
=
) ( ) ( k k y
Thut ton c lng bnh phng ti thiu qui: Thut ton c lng bnh phng ti thiu qui:
) ( ) ( ) 1 (
) (
k k L k k + =
T
) 1 ( ) ( ) ( ) ( = k k k y k
T

) ( ) 1 ( ) (
) ( ) 1 (
) (
k k P k
k k P
k L
T

=
) ( ) 1 ( ) ( k k P k
T
+
+

=
) ( ) 1 ( ) (
) 1 ( ) ( ) ( ) 1 (
) 1 (
1
) (
k k P k
k P k k k P
k P k P
T
T

+ ) ( ) 1 ( ) ( k k P k
Trong : ) 1 , 2 (
0
rand =
2 2
) 0 (

= I P
Chy thut ton c lng tham s trc tuyn, thi im k ta c:
]
1 1 k k k
b a =
Bc 2: Thit k b iu khin PI da vo thng s hm truyn
Hm truyn b iu khin PI:
Bc 2: Thit k b iu khin PI da vo thng s hm truyn
nhn dng bc 1
Hm truyn b iu khin PI:
1
1
2
) (
+
+ =
z
z T K
K z G
I
P C
Phng trnh c trng ca h kn:
0 ) ( ) ( 1 = + z G z G
C
+
+ +
a z
b
z
z T K
K
I
P
1
1
2
1
0 )

25 . 0 ( ) 1
25 . 0
(
2
= + + + + a K b K b z a K b K b z
P I I P
(1)
C h Cp cc phc mong mun:
j
re z

=
*
2 , 1
754 . 0 ) exp( = =
n
T r
) ( 2828 . 0 1
2
rad T
n
= =
2828 . 0 *
2 , 1
754 . 0
j j
e re z

= =

210 0 724 0
*
j re z
j
= =

210 . 0 724 . 0
2 , 1
j re z
j
= =

Phng trnh c trng mong mun:
* *
0 ) )( (
*
2
*
1
= z z z z
0 ) 210 . 0 724 . 0 )( 210 . 0 724 . 0 ( = + j z j z
0 5680 . 0 4474 . 1
2
= + z z
(2)
C b (1) (2) Cn bng (1) v (2)
= + +

447 . 1 1
05 . 0
a K b K b
I P
= b K
I
/ 21 . 1
= 568 . 0
05 . 0 a K b K b
P I
= b a K
P
/ )
508 . 0 (
M phng h thng iu khin PI thch nghi gin tip
Khi c lng bnh phng ti thiu qui
B iu khin PI vi cc h s Kp, Ki
p,
tnh theo thng s ca i tng
2
0
1
r
y
0 10 20 30 40 50
-2
-1
1
2
u
-1
0
p ng ca h kn sau 1 chu k iu khin t c
0 10 20 30 40 50
-2
Time (sec)
p ng ca h kn sau 1 chu k iu khin t c
cht lng mong mun tng ng vi cp cc phc chn
iu khin t chnh gin tip iu khin t chnh gin tip Th d 2 Th d 2
Cho i tng bc 2 c thng s cha bit ri rc ha i tng vi Cho i tng bc 2 c thng s cha bit, ri rc ha i tng vi
chu k ly mu T = 0.2 (sec) ta c hm truyn c dng:
) ( ) (
2 1
k
b q b
k
+
) ( ) (
2 1
2
2 1
k u
a q a q
q
k y
+ +
=
Hy thit k b iu khin t chnh gin tip sao cho p ng ca h y b u c g p s o c o p g c
thng kn bm theo m hnh chun:
4
) (
2
= s G
m
4 4
) (
2
+ + s s
m
Gii:
Ri h h h h t
449 0 341 1
0471 . 0 0615 . 0 ) (
) 1 ( ) (
2
1
+
+
=
=

z z
z
s
s G
z z G
m
m
Z
Ri rc ha m hnh chun, ta c:
449 . 0 341 . 1 +

z z s
2 1
) (

+ + z b z b b z b z Y
hm truyn ri rc:
Ta c:
2
2
1
1
2 1
2 1
2
2 1
1 ) (
) (
) (

+ +
+
=
+ +
+
= =
z a z a
z b z b
a z a z
b z b
z U
z Y
z G
) ( ) ( ) ( ) 1 (
2
2
1
1
2
2
1
1
z U z b z b z Y z a z a

+ = + +
[ ]
T
) ( ) ( ) ( ) 1 (
2 1 2 1
z U z b z b z Y z a z a + + +
) 1 ( ) 1 ( ) 2 ( ) 1 ( ) (
2 1 2 1
+ + = k u b k u b k y a k y a k y
[ ]
T
k u k u k y k y k ) 2 ( ) 1 ( ) 2 ( ) 1 ( ) ( =
[ ]
T
b b a a
2 1 2 1
=
t:
) ( ) ( k k y
T
=
Thut ton c lng thng s i tng: Thut ton c lng thng s i tng:
) ( ) ( ) 1 (
) (
k k L k k + =
T
) 1 ( ) ( ) ( ) ( = k k k y k
T

) ( ) 1 ( ) (
) ( ) 1 (
) (
k k P k
k k P
k L
T

=
) ( ) 1 ( ) ( k k P k
T
+
+

=
) ( ) 1 ( ) (
) 1 ( ) ( ) ( ) 1 (
) 1 (
1
) (
k k P k
k P k k k P
k P k P
T
T

+ ) ( ) 1 ( ) ( k k P k
Trong : ) 1 , 4 (
0
rand =
4 4
) 0 (

= I P
Chy thut ton c lng tham s trc tuyn, thi im k ta c:
] ) (
) (
) (
) (
[ ) (
2 1 2 1
k b k b k a k a k =
Bc 2: Thit k b iu khin theo m hnh chun da vo thng
Phn tch B di dng:
+
= B B B

+ =
+
1 2
/ b b q B
Bc 2: Thit k b iu khin theo m hnh chun da vo thng

s hm truyn nhn dng bc 1
Phn tch B di dng:
= B B B
Kim tra cc iu kin tn ti b iu khin theo m hnh chun:
1
1 2
b B
m m
B B B

=


1
/ ) 0471 . 0 0615 . 0 ( b q B
m
+ =
3 2 1 3 2 1 43 42 1 43 42 1
1
) (
2
) (
1
) (
2
) ( B A B A
m m
bac bac bac bac
Chn bc A
0
:
0 1
1
) (
2
) (
2
) ( 2 ) (
0
=
+
43 42 1 43 42 1 3 2 1
B A A A
m
bac bac bac bac
Chn bc A
0
:
2
Chn bc A
0
bng 0 A
0
= 1
Chn bc R
1
v S: Chn bc R
1
v S:
) ( ) ( ) ( ) (
0 1
A A A R
m
bac bac bac bac + = 0 2 2 0 = + =
{ } )] ( ) ( ) ( [ )], ( ) ( min ) (
0 1
+
+ + = B A A B R S
m
=
0 1
r R
{ }
{ } 1 ] 0 2 0 [ ], 1 0 min = + + = [
Tnh S v R
1
+ =
1 0
s q s S
m
A A S B AR
0 1
= +

449 . 0 341 . 1 ) (
)

(
2
1 0 1 0 2 1
2
+ = + + + + q q s q s b r a q a q
449 0 341 1 )
( )
(
2 2
b b
=
=
0
/ )
341 1 (
1
b a s
r
449 . 0 341 . 1 ) ( ) (
2
1 1 2 0 1 0 1 0
2
0
+ = + + + + q q b s a r q b s a r q r
k
=
=
1 2 1
1 1 0
/ )
449 . 0 (
/ ) 341 . 1 (
b a s
b a s
Tnh R T:
m
B A T

=
0
Tnh R v T:
+
= B R R
1

)
1 2
b b q R + =
/ ) 0471 . 0 0615 . 0 (
b z T + =
m 0
Kt lun: H thng iu khin t chnh gin tip theo m hnh chun
sau khi thit k:
1
) (
c lng
2 1 2 1
b b a a
u(k)
y(k) u
c
(k)
2
2 1
b q b
+ +
+
T
2 1
2
a q a q + +
R

R

M phng h thng iu khin
M phng h thng iu khin
t chnh gin tip theo m hnh chun
Khi c lng bnh phng ti thiu qui
B iu khin theo m hnh chun R*u = T*uc S*y
0
1
ym
y
0 25 50 75 100
-1
4
8
u
-4
0
0 25 50 75 100
-8
Time (sec)
p ng ca h kn bm theo m hnh chun rt tt
p ng ca h kn bm theo m hnh chun rt tt
sau vi chu k cp nht thng s ca i tng
IU KHIN IU KHIN
HOCH NH LI HOCH NH LI
iu khin hoch nh li? iu khin hoch nh li?
Hoch nh li l mt phng php iu khin n gin p dng Hoch nh li l mt phng php iu khin n gin p dng
iu khin i tng phi tuyn hoc i tng c thng s thay
i theo iu kin lm vic
Trong mt s trng hp c th o c cc bin c lin quan cht
ch n s thay i c tnh ng ca i tng.
Nhng bin ny c th c s dng thay i thng s ca b
iu khin, theo cng thc tnh ton trc.
Thng s b iu khin c th c tnh ton trc cho cc im
lm vic khc nhau v lu tr trong b nh.
Hoch nh li cn c th da vo cc bin i phi tuyn sao cho
h thng bin i khng ph thuc vo iu kin lm vic.
S khi iu khin hoch nh li S khi iu khin hoch nh li
iu kin
l lm vic
Hoch nh
li
u(t)
y(t)
B iu khin
e(t)
u
c
(t)
i tng
g
Nguyn tc thit k b iu khin hoch nh li Nguyn tc thit k b iu khin hoch nh li
Khng c phng php tng q t thit k thit k b i khin hoch Khng c phng php tng qut thit k thit k b iu khin hoch
nh li, mi lp i tng iu khin c c th cn xem xt
ring.
Vn chnh l xc nh bin no c s dng lm bin hoch nh
li.
Bin hoch nh phi phn nh c c tnh phi tuyn hoc c tnh
thay i theo iu kin lm vic ca i tng.
Bin hoch nh phi bin i chm
Mt phng php thit k b iu khin hoch nh li Mt phng php thit k b iu khin hoch nh li
Phng php thng s dng bao gm cc bc: Phng php thng s dng bao gm cc bc:
Chn bin hoc cc bin hoch nh.
T t h h h h i t h t i l i
Thit k b iu khin tuyn tnh cho mi im lm vic s dng
m hnh tuyn tnh tng ng
Tuyn tnh ha m hnh i tng quanh mt s im lm vic
m hnh tuyn tnh tng ng.
Khi vn hnh, ni suy thng s b iu khin da trn gi tr ca
bin hoch nh bin hoch nh.
Cng c th ni suy tn hiu iu khin, thay v ni suy thng s b
iu khin iu khin
iu khin hoch nh li iu khin hoch nh li Th d 1 Th d 1
Ch h th l h h h Cho h thng xe l xo nh hnh
v. Quan h vo ra ca h thng
m t bi phng trnh vi phn:
) ( ) ( ) ( t u t ky y b t y m = + +
& & &
/ 1
) (
m
p G =
trong u(t) l tn hiu vo (lc iu khin); y(t) l tn hiu ra (v tr
) 0 5 5k l khi l (khi l th i t
) / 5 ( ) / 2 (
) (
2
m p m p
p G
+ +
xe); m = 0.5-5kg l khi lng xe (khi lng xe thay i trong qu
trnh vn hnh), b = 2N.s/m k = 5 N/m l cng l xo.
Yu cu: Gi s c th o c khi lng vt nng thit k b iu Yu cu: Gi s c th o c khi lng vt nng, thit k b iu
khin hoch nh li sao cho h thng bm theo m hnh chun:
1
) ( = p G
1 2
) (
2
+ +
=
p p
p G
m
Gii: Thit k b iu khin theo m hnh chun thng s b iu
Phn tch B di dng:
+
= B B B

=
+
B 1
Gii: Thit k b iu khin theo m hnh chun, thng s b iu

khin ph thuc bin hoch nh l khi lng ca vt nng
Phn tch B di dng:
= B B B
m B / 1
m m
B B B

=


m B
m
=
3 2 1 3 2 1 43 42 1 43 42 1
0
) (
2
) (
0
) (
2
) ( B A B A
m m
bac bac bac bac
Chn bc A
0
:
1 1
0
) (
2
) (
2
) ( 2 ) (
0
=
+
43 42 1 43 42 1 3 2 1
B A A A
m
bac bac bac bac
Chn bc A
0
:
2
Chn bc A
0
bng 0 A
0
= p+5
Chn bc R
1
v S: Chn bc R
1
v S:
) ( ) ( ) ( ) (
0 1
A A A R
m
bac bac bac bac + =
1 2 2 1 = + =
{ } )] ( ) ( ) ( [ )], ( ) ( min ) (
0 1
+
+ + = B A A B R S
m
+ =
1 0 1
r p r R
{ }
{ } 1 ] 0 2 1 [ ], 0 1 min = + + = [
Tnh S v R
1
+ =
1 0
s p s S
m
A A S B AR
0 1
= +

) 1 2 )( 5 ( ) (
1
) (
5 2
2
1 0 1 0
2
+ + + = + + +
+ + p p p s p s
m
r p r
m
p
m
p

m m m
1 5 1 2 5 2
1 1 0 1 0
2
1 0
3
0

+ +
+ + +
+ + s
m
r
m
p s
m
r
m
r
m
p r r
m
p r
5 11 7
2 3
+ + + =

p p p
m m m m m m

+
=
7
2
1
1 0
0
r r
m
r
=
=
2
7
1
1
0
m
r
r
+ +

11
1 2 5
0 1 0
s
m
r
m
r
m
m
+ =
10
12
2
11
0
m
m s
m
+ 5
1 5
1 1
s
m
r
m

+ = 35
10
5
1
m
m s
Tnh R v T:
+
= B R R
1
) (
1
r p R + =
m
B A T

=
0
m p T ) 5 ( + =
Hoch nh
li
1 0 1 0 1
, , , , s s t t r
u(t)
y(t) u
c
(t)
5 2
1
2
+ + p mp
R
T
R
S
S khi h thng iu khin hoch nh

li theo m hnh chun sau khi thit k
S Si li k h h th i khi
S Simulink m phng h thng iu khin
hoch nh li theo m hnh chun
1
-1
0
1 ym
y
0 50 100 150 200
0
4
8
u
0 50 100 150 200
-8
-4
5
0 50 100 150 200
1
3
m
Kt qu iu khin khi cha hoch nh li vi b iu khin STR
c thit k da vo gi tr m = 1kg Cht lng iu khin cng
Time (sec)
c thit k da vo gi tr m
0
= 1kg. Cht lng iu khin cng
km khi khi lng vt nng cng sai lch so vi gi tr m
0
-1
0
1 ym
y
0 50 100 150 200
0
4
8
u
0 50 100 150 200
-8
-4
5
0 50 100 150 200
1
3
m
Kt qu iu khin khi hoch nh li b iu khin STR theo khi
lng vt nng Cht lng iu khin bm theo m hnh chun rt
0 50 100 150 200
Time (sec)
lng vt nng. Cht lng iu khin bm theo m hnh chun rt
tt d bt chp s thay i khi lng ca vt nng.
u(t): lu lng vo (tn hiu iu khin) u(t): lu lng vo (tn hiu iu khin)
y(t): cao mc cht lng (tn hiu iu khin)
r
0
: bn knh y bn cha (r
0
= 10cm)
r : bn knh nh bn cha (r = 50cm) r
1
: bn knh nh bn cha (r
1
= 50cm)
a
o
: tit din van x (a
o
= 1cm
2
)
H: chiu cao bn cha (H= 100cm)
C : h s x (C = 1)
Phng trnh vi phn m t c tnh ng hc h bn cha:
C
D
: h s x (C
D
= 1)
g: gia tc trng trng (g = 981cm/s
2
)
g p g
( ) ) ( 2 ) (
) (
1
) ( t gy a C t u
y S
t y
o D
=
&
22
0 1
0
) (

+ = y
H
r r
r y S
Thit k b iu khin PI hoch nh li sao cho phng trnh c
vi
(tit din ngang ca bn ti cao y)
Thit k b iu khin PI hoch nh li sao cho phng trnh c
trng ca h kn c cp cc vi v 0 . 1 = 1 . 0 =
n

Gii: Gii:
t bin trng thi , PTTT ca h bn cha: ) ( ) ( t y t x =
( )
1
( )
= =
= =
) ( )) ( ), ( ( ) (
) ( 2 ) (
)) ( (
1
)) ( ), ( ( ) (
t x t u t x h t y
t gx a C t ku
t x S
t u t x f t x
o D
&
im lm vic tnh l nghim phng trnh: ) , ( u x
( )
1
) ( )) ( ), ( ( ) ( y
( ) 0 2
) (
1
= x g a C u
x S
o D
x g a C u
o D
2 =

Phng trnh trng thi ca h thng quanh im tnh
) ( y u
Phng trnh trng thi ca h thng quanh im tnh
) , ( y u
=
+ =
) (
~
) (
~
) (
~
) (
~
) (
~
t x C t y
t u B t x A t x
&
trong
x
g
x S
a C
x
f
A
o D
u x
2 ) (
) (
=
=
x x S x
u x
2 ) (
) , (
) (
1
) (
x S u
f
B =
=
1
) (
=
=
x
h
C
) (
) , (
x S u
u x
) , (
u x
x
Hm truyn ca h thng quanh im tnh
s Y ) (
~
K
B A sI C
s U
s Y
s G
1
) (
) (
~
) (
) (

= =
g a C
o D
1
K
a s
K
s G
+
= ) (
trong
x
g
x S
a
o D
2 ) (
=
) (x S
K =
S dng b iu khin PI, phng trnh c trng ca h kn quanh S dng b iu khin PI, phng trnh c trng ca h kn quanh
im tnh :
0 1 =
+ +
K K
K
I
P
0 ) (
2
= + + +
I P
KK s K K a s (1)
) , ( u x
a s s
P
) (
I P
( )
Phng trnh c trng mong mun:
0 2
2 2
= + + s s (2) 0 2 = + +
n n
s s (2)
Cn bng (1) v (2):
= + 2 K K a
= K a K
P
/ ) 2 (
=
= +
2
2
n I
n P
KK
K K a
= K K
K a K
n I
n P
/
/ ) 2 (
2

2
g r r
+ =
2
0 1
2
0 1
0
2
2
r r
K
y
g
a C y
H
r r
r K
o D n P

+ =
0 1
0
2
y
H
r K
n I

M phng h thng iu khin PI hoch nh li.
Thng s b iu khin PI c th chn c nh ng vi mc cht
Thng s b iu khin PI c th chn c nh ng vi mc cht
lng trong bn bng 25cm hoc thay i ty theo im lm vic
Khi hoch nh li Khi hoch nh li
B i khi PI B iu khin PI
50
75
100
0 200 400 600 800
0
25 r
y
4000
6000
u
0
2000
0 200 400 600 800
-2000
Time (sec)
Kt qu iu khin PI vi li c nh ng mc cht lng 25cm
Kt qu iu khin PI vi li c nh ng mc cht lng 25cm,
cht lng iu khin cng km khi im lm vic cng xe 25cm.
50
75
100
0 200 400 600 800
0
25 r
y
4000
6000
u
0
2000
0 200 400 600 800
-2000
Time (sec)
Kt qu iu khin PI hoch nh li
Kt qu iu khin PI hoch nh li,
cht lng iu khin tt trong min lm vic rng
u khuyt im ca iu khin hoch nh li u khuyt im ca iu khin hoch nh li
u im: u im:
iu khin hoch nh li cho php p dng cc phng php
thit k b iu khin tuyn tnh vo h phi tuyn c c tnh ng
thay i theo iu kin lm vic.
Thng s ca b iu khin hoch nh li thay i nhanh theo
s thay i c tnh ng ca i tng s thay i c tnh ng ca i tng
Hoch nh li c bit thun li nu c tnh ng ca i
tng ph thuc vo mt vi bin c th o c.
Khuyt im:
Khuyt im chnh ca iu khin hoch nh li l y l s
iu khin thch nghi vng h, khng c c ch thch nghi
ng ngha.
Mt hn ch khc l trong nhiu trng hp kh chn c bin
Mt hn ch khc l trong nhiu trng hp kh chn c bin
hoch nh tt.
Chun u ra Chun u ra
Sau khi hc xong chng 4 sinh vin phi c kh nng: Sau khi hc xong chng 4, sinh vin phi c kh nng:
Thit k b iu khin theo m hnh chun
Thit k b iu khin thch nghi theo m hnh chun g
Thit k b iu khin t chnh gin tip trn c s c lng trc
tuyn thng s m hnh ca i tng.
Thit k b iu khin hoch nh li

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Mn Mn hc hc

L THUYT IU L THUYT IU KHIN NNG CAO KHIN NNG CAO

18 April 2011 H. T. Hong - HCMUT 19

Thut ton c lng qui khng tnh nghch o ma trn:

(Phng trnh Diophantine)

(Phng trnh Diophantine)

18 April 2011 H. T. Hong - HCMUT 37

18 April 2011 H. T. Hong - HCMUT 41

iu khin theo m hnh chun iu khin theo m hnh chun Th d 1 Th d 1

Khng th p dng cc cng thc trn cp nht thng s ca b

18 April 2011 H. T. Hong - HCMUT 66

18 April 2011 H. T. Hong - HCMUT 74

18 April 2011 H. T. Hong - HCMUT 81

Bc 5: Vit c th lut MIT gn ng cp nht tng thng s:

Bc 2: Thit k b iu khin theo m hnh chun da vo thng

18 April 2011 H. T. Hong - HCMUT 109

iu khin t chnh gin tip iu khin t chnh gin tip Th d 2 Th d 2

Gii: Thit k b iu khin theo m hnh chun, thng s b iu

iu khin hoch nh li iu khin hoch nh li Th d 2 Th d 2

18 April 2011 H. T. Hong - HCMUT 128

18 April 2011 H. T. Hong - HCMUT 130

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