Mn hc

L THUYT IU KHIN NNG CAO

Ging vin:
Gi
i PGS.
PGS TS.
TS Hunh
H h Thi Hong
H
B mn iu Khin T ng
Khoa in
in
T
i hc Bch Khoa TP.HCM
Email: hthoang@hcmut.edu.vn
Homepage: http://www4
http://www4.hcmut.edu.vn/~hthoang/
hcmut edu vn/~hthoang/
15 January 2014

H. T. Hong - HCMUT

Ni dung mn hc

Chng 1: Gii thiu

Chng 2: iu khin phi tuyn

Chng 3: iu khin ti u

Chng 4: iu khin thch nghi

Chng 5: iu khin bn vng

Chng 6: Mt s v d thit k h thng K

15 January 2014

H. T. Hong - HCMUT

Ti liu tham kho

Gio trnh: L thuyt iu khin hin i Nguyn Th

Phng H, NXB i hc Quc Gia TPHCM

Bi ging:
i
L thuyt
th t iu
i khin
khi nng
cao Hunh
H h Thi
Hong, http://www4.hcmut.edu.vn/~hthoang/ltdknc/

Bi tp: BKel

15 January 2014

H. T. Hong - HCMUT

Ti liu tham kho

Tham kho:
[1] Applied nonliear control, Jean-Jacques E. Slotine
& Weiping Li
Li, Prentice
Prentice-Hall
Hall International Editions
Editions, Inc
Inc.
1991.
[2] Optimal Control,
Control Frank L
L. Lewis
Lewis, Vassilis L
L.
Symos, A Wiley-Interscience Publication , 1995
[3] Adaptive control , Karl Johan Astrom & Bjom
Wittnmark , Addison-Wesley Publishing Company,
second edition 2000.
[4] Robust and optimal cotrol, Kemin Zhou with John
C. Doyle and Keith Glover , Prentic Hall, Upper Saddle
River , 1996.

15 January 2014

H. T. Hong - HCMUT

nh gi mn hc
Kim tra (50%)
(50%), trong :
Bi tp: 30% (bi tp trn lp + bi tp v nh)
Kim tra gia k: 20% (thi vit)
Thi cui k: 50% (thi vit)

Ch : Sinh vin khng c s dng ti liu in v

photocopy trong phng thi
thi.

15 January 2014

H. T. Hong - HCMUT

Chng 1

GII THIU

15 January 2014

H. T. Hong - HCMUT

iu khin s khai

T gia th k 19 tr v trc: HTK c thit k

da vo trc gic, khng c c s ton hc.

15 January 2014

H. T. Hong - HCMUT

iu khin kinh in (trc 1960)

T gia th k 19 n nhng nm 1930: nn mng
ton hc l thuyt iu khin ra i
Lyapunov (1892)
Routh-Hurwitz (1895)
T thp
th nin
i 1930 n
1940:
1940 l thuyt
th t iu
i khin
khi
kinh in pht trin mnh:
c tnh
tn
s,
biu

Bode
Biu Nyquist, Nichols,
Qu o nghim s

15 January 2014

H. T. Hong - HCMUT

c im ca iu khin kinh in
H thng SISO
i tng tuyn tnh (hoc i tng phi tuyn lm
vic quanh im tnh)
Thit k trong min tn s
S dng
d
bi
biu
Thit k nhm t c s cn bng:
Cht
C lng v

bn
vng
nh hng ca cc yu t khng chc chn
B iu
khin
PID

15 January 2014

H. T. Hong - HCMUT

Hn ch ca l thuyt iu khin tuyn tnh kinh in

Cht lng iu khin c mt s hn ch:
Khng ti u
Cht lng iu khin gim nu i tng phi tuyn
lm vic trong phm vi rng
Cht lng iu khin khng m bo khi tham s
ca i tng thay i
Khng m bo t c cht lng thit k nu m
hnh ca i tng c yu t khng chc chn.
L thuyt
iu
khin
kinh in
rt
kh p dng trong
trng hp:
H MIMO
H phi tuyn
Cht lng trong min thi gian

15 January 2014

H. T. Hong - HCMUT

10

Mt s i tng phc tp kh p dng LTK kinh in

Cn trc,
trc tay my

15 January 2014

H. T. Hong - HCMUT

11

Mt s i tng phc tp kh p dng LTK kinh in

Li tu

15 January 2014

H. T. Hong - HCMUT

12

Mt s i tng phc tp kh p dng LTK kinh in

iu khin my bay

15 January 2014

H. T. Hong - HCMUT

13

Mt s i tng phc tp kh p dng LTK kinh in

iu khin qu trnh

15 January 2014

H. T. Hong - HCMUT

14

iu khin hin i (1960 nay)

iu khin phi tuyn
iu khin ti u
iu khin thch nghi
iu khin bn vng

15 January 2014

H. T. Hong - HCMUT

15

iu khin phi tuyn

C s ton hc ca LTK phi tuyn ra i t th k
19, t sau 1960 iu khin phi tuyn pht trin mnh.
Cc phng php phn tch h thng iu khin phi
tuyn

Phng php hm m t
Phng php mt phng pha
Phn tch n nh Lyapunov
Tiu chun Popov
nh l li b
Phn tch th ng
Cc phng php thit k h thng iu khin phi tuyn
Hi tip tuyn tnh ha
iu khin trt
Phng php cun chiu,

15 January 2014

H. T. Hong - HCMUT

16

iu khin ti u
L phng php iu khin trong b iu khin c
thit k sao cho ti thiu mt hm ch tiu cht lng
Nhng nm u tin:
Wiener (1930s 1950s): lc, d bo
Kolmogorov (1940s): qu trnh ngu nhin
Qui hoch tuyn tnh v phi tuyn (1940
(1940s)
s)
iu khin ti u:
Qui hoch ng Bellman (1950s)
Nguyn l cc i Pontryagin (1950s)
iu khin ti u tuyn tnh (cui 1950s 1960s)
Lc Kalman
Bi ton iu chnh ton phng tuyn tnh (LQR)
iu khin ti u ngu nhin (LQG)

15 January 2014

H. T. Hong - HCMUT

17

iu khin thch nghi

L phng php iu khin trong cc thng s ca

b iu khin c iu chnh t ng khi iu kin lm
vic thay i nhm t c cht lng ti u.
Nhng nm 1950: HTK theo m hnh tham chiu

Cui thp nin 1960: tin b ca l thuyt iu khin

ng gp vo s pht trin ca l thuyt iu khin thch
nghi (m t khng gian trng thi, l thuyt n nh
Lyapunov, qui hoch ng,)
Thp nin 1970 v nhng nm u
1980: chng minh
tnh n nh ca h thng thch nghi.
Cui thp nin 1980 n u nhng nm 1990: tnh bn
vng ca b iu khin thch nghi
Gn y: pht trin cc gii thut iu khin hc

15 January 2014

H. T. Hong - HCMUT

18

S khi tng qut h thng K thch nghi

Nhn dng/
c lng
iu kin
lm vic
Chnh nh

r(t)

15 January 2014

B iu khin

u(t)

i tng

H. T. Hong - HCMUT

y(t)

19

iu khin bn vng
L phng php iu khin trong b iu khin
c thit k sao cho tnh n nh v cht lng ca
h
thng
g vn m bo khi cc yyu t khng
g chc
chn v/hoc nhiu lon nm trong gii hn nh
trc.
1950s: iu
khin
ti
u H2 (hay
(
LQG)
QG)
1981(Zames): bi ton iu khin H, phng php
chnh li vng
1984 (Doyle), 1987 (Francis): iu khin ti u H
trong khng gian trng thi

15 January 2014

H. T. Hong - HCMUT

20

S khi thit k h thng iu khin bn vng

r(t)

Wm
++

y(t)

iu khin bn vng m hnh sai s nhn

r(t)

Wm
G

++

y(t))
y(

iu khin bn vng m hnh sai s cng

15 January 2014

H. T. Hong - HCMUT

21

S dng phng php iu khin no?

dv ((tt )
M
Bv (t ) f (t )
dt

Nn chn phng php iu khin no?

Khi m hnh chnh xc, thng s ca xe khng i?
Khi mun ti thiu nng lng tiu tn?
Khi thng s ca xe thay i?
Khi c sai s m hnh (m hnh khng chc chn)?

15 January 2014

H. T. Hong - HBK TPHCM

22

S dng phng php iu khin no?

qin
u(t)
y(t)
(t)

qout

a: tie
i t die
di n van xa
A: tiet dien ngang cua bon
g: gia toc
toc tro
trong
ng trng
trng
k: he so cong suat bm
CD: he so xa

1
y (t ) ku (t ) aC D 2 gy (t )
A
Nn chn phng php iu khin no?
Khi iu khin n nh ha?
Khi K bm theo tn hiu
t
trong
g min lm vic
rng?
g
Khi mun ti thiu nng lng tiu tn?
Khi thng s ca bn thay i?
Khi c sai s m hnh (m hnh khng chc chn)?
15 January 2014

H. T. Hong - HBK TPHCM

23

S dng phng php iu khin no?

l
u

(t )

J: moment quan tnh cua canh tay may

M: khoi lng cua canh tay may
m: khoi lng vat nang
l: chieu dai canh tay may
lC : khoang cach t trong tam tay may en truc quay
B: he so ma sat nht
g: g
g
gia toc trong trng
u(t): moment tac ong len truc quay cua canh tay may
(t): goc quay (v tr) cua canh tay may

B
(ml MlC )
1

(t )
g cos
u (t )
2
2
2
( J ml )
( J ml )
( J ml )

Nn chn
p
phng
gp
php
p iu khin no?
Khi iu khin tay my trong phm vi rng?
Khi khi lng vt nng thay i?
Khi m hnh khng chc chn?
Khi mun ti u nng lng tiu tn v p ng nhanh?
15 January 2014

H. T. Hong - HBK TPHCM

24

ng dng thc tin iu khin hin i

a s cc hng sn xut thit b iu khin
(Siemens, Omron, Autonics, Schneider, Precision
Digital ) u c dng sn phm b iu khin t
Digital,...)
chnh (Auto-tuning controller), ng dng iu khin
nhit
hit
, t
tc
ng c, i
iu khi
khin qu
ttrnh,
h
Cc phn mm DCS (Distributed Control System)
cao cp
c
chc
nng iu
khin
thch
nghi.
PCS7 (Siemens)
Delta V (Emerson)
iu khin ti u: tu v tr, qu trnh chng ct
iu khin bn vng: iu khin qu trnh

15 January 2014

H. T. Hong - HCMUT

25

ng dng thc tin iu khin hin i

15 January 2014

H. T. Hong - HCMUT

26

ng dng thc tin iu khin hin i

15 January 2014

H. T. Hong - HCMUT

27

Gii thiu ni dung mn hc

Ni dung ca mn hc cp cc phng php thit k b

iu khin cho h thng ng nhm m bo d tr n
nh v cht lng ti u trong iu kin rng buc ca ch
lm vic. ng
dng LTK phi tuyn,
iu
khin
ti
u,
iu khin thch nghi v iu khin bn vng trong thit k v
thc hin cc b iu khin cho h thng ng
ng.
Mn hc ch trnh by nhng ni dung c bn nht v:
iu khin phi tuyn
iu khin ti u
iu khin thch nghi
iu khin bn vng
L thuyt chuyn su hn: chng trnh Cao hc

15 January 2014

H. T. Hong - HCMUT

28

Cc mn hc lin quan
Cc mn hc trc:
Ton cao cp (i s tuyn tnh, Phng trnh vi
phn Phng php tnh,)
phn,
tnh )
C s iu khin t ng
Cc
C mn
hc
h chuyn
h su
tip
ti theo
th (cao
(
h )
hc):
iu khin phi tuyn
iu
khin
a bin

iu khin ti u v bn vng
iu
khin
thch nghi

15 January 2014

H. T. Hong - HCMUT

29

Chun u ra
Sau khi hon tt mn hc
hc, sinh vin c th:
Phn tch v thit k HTK phi tuyn dng phng php hm
m t, l thuyt n nh Lyapunov.
Thit k b K hi tip tuyn tnh ha v b iu khin trt.
Hiu bit v cc phng php iu khin ti u;
Thit k hin
hi b iu
i khi
khin tton
phng
h
ttuyn
t
tnh
h
Hiu bit khi nim iu khin thch nghi v cc s iu
khin thch nghi
Thit k b iu khin thch nghi theo m hnh tham chiu, b
iu khin t chnh nh, b iu khin hoch nh li.
Hiu bit khi nim iu khin bn vng
Thit k b iu khin bn vng LQG, H2, H.

15 January 2014

H. T. Hong - HCMUT

30