Tp ch Khoa hc 2012:21a 30-36

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IU KHIN TRT DA TRN HM TRT KIU PID

Nguyn Hong Dng1

ABSTRACT
Chattering phenomenon around sliding surface and sliding control law makes some
drawbacks for control problems while using sliding mode controller. In practice, some
actuators are unable to satisfy from the phenomenon. Therefore the paper presents a
method using sliding mode controller with type PID (Proportional integral derivative)
based sliding surface for controlling nonlinear system. The solution is proposed for
reducing chattering phenomenon surrounding sliding surface and sliding control law.
The algorithm is applied to control one degree of freedom robot manipulator. Simulation
results are implemented basing on Simulink software of MATLAB as following: the
response of one degree of freedom manipulator tracking desired signal with overshoot
0.02%, settling time 3.1s, steady-state error being not worth considering, the chattering
phenomenon round sliding surface and sliding control law being completely eliminated.
Keywords: Sliding mode controller, PID, robot manipulator
Title: PID type sliding surface based sliding mode controller

TM TT
Hin tng dao ng quanh mt trt cng nh trong lut iu khin trt gy nhiu
kh khn cho bi ton iu khin khi s dng b iu khin trt. Trong thc t, hin
tng ny c th lm cho cc thit b chp hnh khng th p ng c. Do , bi bo
trnh by mt gii php s dng b iu khin trt iu khin i tng phi tuyn vi
hm trt c thit k da trn PID. Gii php trn c ngh nhm gim thiu hin
tng dao ng quanh mt trt v dao ng trong lut iu khin. Gii thut ny c
p dng iu khin i tng h tay my mt bc t do. Kt qu m phng da trn
phn mm Simulink ca MATLAB cho thy: p ng ca h tay my bm theo tn hiu
mong mun vi vt l 0.02%, thi gian xc lp 3.1s, sai s xc lp khng ng k, loi
b c hin tng dao ng quanh mt trt v trong lut iu khin trt.
T kha: B iu khin trt, PID, h tay my

1 GII THIU
u im ni bc ca b khin trt l tnh n nh v bn vng ngay c khi h
thng c nhiu hoc khi thng s ca i tng thay i theo thi gian. Tuy nhin,
nu bin ca lut iu khin thay i qu ln c th lm cho h thng dao ng
(chattering) v khng n nh. khc phc hin tng trn, bi bo ngh s
dng b iu khin trt vi hm trt c dng phng trnh ca ca b iu
khin PID. V hm trt ny c gi l hm trt kiu PID. Gii thut ny loi
b c hin tng dao ng khi bin ca lut iu khin trt tng. V gii
thut c p dng iu khin i tng phi tuyn-h tay my mt bc t do.
i vi hin tng dao ng khi s dng b iu khin trt, nhiu nh khoa hc
nghin cu v a ra nhiu gii php khc phc khc nhau. Li Jian-jun (2010)
ngh s dng logic m nh mt ng ra lin tc i vi b iu khin trt v
1

Khoa Cng Ngh, Trng i hc Cn Th

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Tp ch Khoa hc 2012:21a 30-36

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dng mng nron thay th hm sign trong b iu khin ny. Vi gii thut
ngh, Li Jian-jun minh chng c vic loi b c hin tng dao ng
quanh mt trt. Zhang Yuzeng (2010) s dng vng gii hn cho qu trnh
chuyn i ca mt trt. Phng php ny gim thiu c dao ng quanh
mt trt. Tuy nhin vng gii hn ny khng phi l duy nht cho tt c cc i
tng. Bn cnh ZhixiongHou (2003) c lng cc thnh phn khng xc
nh v bin ca lut iu khin trt da trn h m. Gii thut ny khng yu
cu s dng vng gii hn cho cc thnh phn bt nh. V gii thut chng
minh tnh n nh da trn Lyapunov. Hn th na, Yangmin Li (2010) thit lp
mt trt da trn lut iu khin PID. Vi phng php ny lut iu khin trt
kiu PID iu khin tt i tng l tay my Piezo-Driven v loi b c hin
tng dao ng khng mong mun. Tuy nhin, vt l v thi gian xc lp ca
p ng ln.
Da trn kt qu nghin cu ca Yangmin Li (2010), bi bo ngh thit k b
iu khin trt da trn hm trt kiu PID. Trong cc tham s ca hm trt
c iu chnh da trn phng php th sai. minh chng kh nng lm gim
hin tng dao ng trn mt trt, gii thut ny c p dng iu khin h
tay my mt bc t do.
2 M HNH TON H TAY MY MT BC T DO
H tay my mt bc t do c m t nh Hnh 1. H tay my ny c th quay
quanh mt trc nh vo moment u(t) tc dng ln trc. V tr ca cnh tay (t)
c xc nh l gc hp bi trc thng ng v phng ca cnh tay. u(t) l tn
hiu ng vo v (t) l tn hiu ng ra. Gi s thi im ban u h tay my cha
gp vt nng m. Sau khong thi gian t no , h tay my s gp vt nng m. Da
trn vic phn tch phng trnh Eluer-Larange, phng trnh ng hc ca h tay
my mt bc t do c thit lp nh sau:

J ml (t ) B(t ) ml Ml g sin( (t )) u(t )

2

(1)

trong J Mlc2 l moment qun tnh ca cnh tay, cc thng s cn li c m

t chi tit trong bng 1.
t x1 (t ) v x2 (t )
Phng trnh (1) c th biu din di dng phng trnh trng thi nh sau:
x1 (t ) x2 (t )

(
)

u
t
Bx
x (t )
2 (t ) ml Mlc g sin( x1 (t ))
2
J ml 2

(2)

V ng ra y(t)=(t)=x1(t).

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Hnh 1: M hnh ng hc h tay my mt bc t do

Bng 1: Cc thng s ng hc ca h tay my mt bc t do

K hiu
M
m
l
lc
B
g

ngha
Khi lng ca cnh tay
Khi lng vt nng
Chiu di cnh tay
Khong cch t trng tm cnh tay n trc quay
H s ma st nht
Gia tc trng trng

Gi tr
1
0.1
0.4
0.15
0.2
9.81

n v
Kg
Kg
m
m
Kg.m2/s
m/s2

3 THIT K B IU KHIN TRT BNG CCH CHN MT

TRT KIU PID
3.1 Thit k b iu khin trt kinh in
Do phng trnh (2) l h bc 2 nn hm trt c chn nh sau:
1

(3)
e(t )

trong e(t)=y(t)-r(t)
(4)
vi r(t) l tn hiu mong mun, y(t) l tn hiu ng ra, l hng s dng chn
trc.
s(t ) e(t )

Khi hm trt s(t)=0, nghim ca phng trnh (3) c dng e(t ) exp . Do

khi t , e(t ) 0 . Vi c xem l thi hng ca hm trt. cng nh, h
thng cng chm tin v mt trt v ngc li.
Thay (4) vo (3), hm trt c vit li:
s(t ) x2 (t ) r(t )

x1 (t ) r (t )

Theo l thuyt n nh Lyapunov, chn mt hm xc nh dng

V (t )

1 2
s (t )
2

(5)
(6)

T (6) suy ra V s ( t ). s ( t )
V (t ) xc nh m, chn s(t ) k .sign( s (t )) . Thay s(t ) k .sign( s (t )) vo V (t ) s
cho hm V (t ) s.k .sign( s (t )) , vi k l hng s dng chn trc.
Nhn xt: nu s(t)>0 th V (t ) <0. Nu s(t)<0 th V (t ) <0. Nu s(t)=0 th V (t ) =0.
T nhn xt trn cho thy, h thng s n nh theo tiu chun Lyapunov.
T (2), (5) lut iu khin trt u(t) c thit k nh sau:

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u (t ) B.x 2 (t ) ml Mlc g sin( x1 (t ))

(7)
1

J ml 2 r(t ) r(t ) x 2 (t ) k .sign( s(t ))

Kt qu m phng cho thy, nu s dng b iu khin trt kinh in th p ng

ca h tay my bm theo tn hiu mong mun vi vt l l 3.5% v thi gian
xc lp l 5.8s, sai s xc lp khng ng k (xem Hnh 2).
3.2 Thit k b iu khin trt da trn hm trt kiu PID
Lut iu khin trt c thit k da trn hm trt. Hm trt c xy dng
da trn bc ca m hnh i tng. i vi i tng h tay my mt bc t do,
hm trt c chn nh phng trnh (3). Tuy nhin loi b hin tng dao
ng quanh mt trt khi bin ca lut iu khin trt thay i ln, hm trt
c th c chn nh sau (Yangmin Li, 2010):
t

s (t ) e(t ) 1e(t ) 2 e( )d ( )

(8)

trong e(t) l sai s gia p ng ng ra v tn hiu mong mun c thit lp

nh (4). 1 v 2 l hai hng s dng. Hai gi tr ny c chn sao cho phng
trnh c tnh s 2 1s 2 0 phi Hurwitz. Trong s l bin phc v nghim ca
phng trnh s 2 1s 2 0 phi nm na b tri ca mt phng phc.
Phng trnh (8) c th c vit li nh sau:
t

s(t ) y (t ) r(t ) 1 y (t ) r (t ) 2 y ( ) r ( )d ( )

(9)

Theo l thuyt n nh Lyapunov, chn mt hm xc nh dng

V (t )

1 2
s (t )
2

(10)

(11)
Phng trnh (10) c th c vit li V s ( t ). s ( t )
V (t ) xc nh m, chn s(t ) k .sign( s (t )) . Thay s(t ) k .sign( s (t )) vo V (t ) s
cho hm: V (t ) s.k .sign( s (t )) , vi k l hng s dng chn trc. Do lut iu
khin trt da trn hm trt kiu PID c thit k nh sau:
u (t ) B.x 2 (t ) ml Ml c g sin( x1 (t ))
(12)
J ml 2 r(t ) 1 r(t ) x 2 (t ) 2 r (t ) x1 (t ) k .sign( s (t ))
So snh gia lut iu khin trt biu thc (7) v lut iu khin trt da trn
hm trt kiu PID (12) cho thy: lut iu khin trt da trn hm trt kiu
PID c thm vo mt thnh phn l 2e(t).
Kt qu m phng khi s dng b iu khin trt vi hm trt kiu PID cho p
ng ca h tay my bm theo tn hiu mong mun vi vt l l 0.02%, thi gian
xc lp l 3.1s, sai s xc lp khng ng k (xem Hnh 2).

4 KT QU M PHNG V THO LUN

Ba b iu khin khc nhau gm b iu khin trt, b iu khin trt vi hm
trt kiu PID v b iu khin PID cng lc p dng iu khin mt i tng
duy nht l h tay my mt bc t do. Kt qu m phng trn Simulink ca
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MATLAB cho thy nu s dng b iu khin trt kinh in th thi gian xc lp

(5.8s) v vt l ln nht (3.5%) trong s p ng ca ba b iu khin trn. Bn
cnh lut iu khin v mt trt u c hin tng ao ng. Mt trt dao
ng vi bin 0.14 (xem Hnh 3) v lut iu khin trt dao ng vi bin
1.28 (xem Hnh 2). Nu lut iu khin dao ng nh th ny s lm nh hng
n thi gian p ng ca i tng c iu khin (v d nh ng c mt chiu
chng hn). Trong khi b iu khin trt vi hm trt kiu PID cho kt qu
tt hn vi vt l v thi gian xc lp b nht. vt l l 0.02% v thi gian
xc lp l 3.1s (xem Hnh 2). c bit mt trt v lut iu khin khng c hin
tng dao ng vi bin ln (xem Hnh 2 v Hnh 4). Kt qu m phng thc
t cho thy nu s dng b iu khin trt vi hm trt kiu PID th mt trt t
c hin tng dao ng hn so vi b iu khin trt kinh in (xem Hnh 3).
Bn cnh hai b iu khin ni trn, b iu khin PID cng c iu khin ng
thi vi cng mt i tng l h tay my mt bc t do vi cc hng s ca b
iu khin ny c chn theo phng php th sai. Kt qu m phng cng ch
ra rng p ng c vt l tng i thp 1.8% (xem Hnh 2) v thi gian xc
lp l 4.9s. Tt c cc tiu chun cht lng ca cc b iu khin c trnh by
trong bng 2.
Response tracking desired signal
60
Ref
SMC
PID
PID-based-SMC

50

[deg]

40
Overshoot of SMC: 3.499%

Settling time of SMC: 5.8s

Overshoot of PID: 1.801%

Settling time of PID: 4.9s

30
20
Overshoot of PID-SMC: 0.022557% Settling time of PID-SMC: 3.1s
10
0

10

15

20

25

30

35

Time [sec]
Control signal
15
u-SMC
u-PID
u-PID-SMC

Amplitude

10

5
0

-5

10

15

20

25

30

35

Time [sec]

Hnh 2: p ng nc ca h tay my v tn hiu iu khin (ref: tn hiu mong mun, SMC:

p ng h tay my khi dng b iu khin trt, PID: p ng h tay my khi dng b
iu khin PID, PID-based SMC: p ng ca h tay my khi dng b iu khin trt vi
hm trt kiu PID, u-SMC: tn hiu iu khin trt, u-PID: tn hiu iu khin PID, uPID-SMC: tn hiu iu khin trt vi hm trt kiu PID )

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Sliding surface
20
SMC
PID-SMC
15

Amplitude

10

-5

-10

10

15
20
Time [sec]

25

30

35

Hnh 3: Mt trt ca b iu khin trt (SMC) v

mt trt ca b iu khin trt da trn hm trt kiu PID (PID-SMC)
Bng 2: Cht lng ca cc b iu khin (SMC: B iu khin trt, PID: B iu khin
PID, PID-SMC: B iu khin trt vi hm trt kiu PID)

Loi iu khin
SMC
PID
PID-SMC

vt l (%)
3.5
1.8
0.02

Thi gian xc lp (s)

5.8
4.9
3.1

Thi gian tng (s)

1
2.7
1.7

5 KT LUN
Bi bo p dng lut iu khin trt vi hm trt c thit k da trn PID
loi b c hin tng dao ng quanh mt trt v lut iu khin trt. Gii
thut ny c p dng iu khin h tay my mt bc t do. Kt qu m
phng trn MATLAB minh chng c rng: vi gii thut ny, p ng h tay
my bm theo tn hiu mong mun vi vt l khng ng k 0.02%, sai s xc
lp bng khng v thi gian xc lp l 3.1s. Nu h tay my c iu khin bng
b iu khin trt truyn thng th kt qu m phng cho thy vt l tng ln
3.5%, lut iu khin c hin tng dao ng vi bin bng 1.28 v mt trt
dao ng vi bin 0.14.
kt qu iu khin ti u hn na khi s dng b iu khin trt vi hm
trt kiu PID, bi bo c ngh nh sau: cc tham s ca hm trt v bin
ca lut iu khin trt c c lng trc tuyn da trn mng nron
(Ming-guang et al., 2005), (Hui Peng et al., 2003), (Huang Yijun et al., 2010) hoc

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logic m. Vi cch lm ny s lm cho b iu khin s thch nghi hn vi mi

i tng cng nh mi loi nhiu can thip vo h thng.
TI LIU THAM KHO
Ming-guang, Zhang Xing-gui, Wang Man-qiang,Liu, 2005. Adaptive PID Control Based on
RBF Neural Network Identification. Proceedings of the 17th IEEE International
Conference on Tools with Artificial Intelligence (ICTAI05), pp. 681-683
ZhixiongHou, QuntaiShen, HeqingLi, 2003. Nonlinear System Identification Based on
ANFIS. IEEE International Conference Neural Networks & Signal Processing Nanjing,
China, December 14-17, pp. 510-512
Hui Peng, Tohru Ozaki, Valerie Haggan-Ozaki and Yukihiro Toyoda, 2003. A Parameter
Optimaization Method for Radial basis Function Type Models. IEEE Transactions On
Neural Network, Vol.14, No.2, pp. 432-438
Huang Yijun, Niu Wu, 2010. Application of RBF Network in System Identification for Flight
Control Systems. IEEE, pp. 67-69
Li Jian-jun, 2010. Application of self tuning PID controller based on RBF network. IEEE, pp.
544-546
Zhang Yuzeng, Song Jianxin, Song Shuhan, Yan Mingyin, 2010. Adaptive PID Speed
Controller Based on RBF for Permanent Magnet Synchronous Motor System. IEEE, pp.
425-428
Yangmin Li, 2010. Adaptive Sliding Mode Control With Perturbation Estimation and PID
liding Surface for Motion Tracking of a Piezo-Driven Micromanipulator. IEEE
Transactions On Control Systems Technology, VOL. 18, NO. 4, pp.798-810.

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