50 I Journal of transportation science and technology, Vol 16, Aug 2015
GIAI THU^T FUZZY-PID DIEU KHIEN M 6 HINH HELI 2DOF FUZZY-PID ALGORITHM CONTROL MODEL HELI 2D0F
Ts. Vo Cong Phuang, Th.s Nguyin Thanh Stm Khoa Dien - Dien tii: vien thdng, Dgi hoc GTVT Tp. HCM Tdm tat: Md hinh HelilDOF xdy dung trong phdng thi nghiem nham nghiin cuu nhimg bdi todn dieu khiin ca bdn cua mdy bay true thdng. Do kit cdu ca khi vdn cd, bdn thdn mdy bay tryc thang khi van hdnh sinh ra nhirng thdnh phdn momen khdng mong mudn gdy dnh hu&ng ddng ki den chdt luang bay. Diiu ndy cdn phdi duac kiim sodt b&i cdc bg diiu khien tu ddng v&i muc dich gidm gdnh ngng cho ngu&i dieu khiin chuyen bay. Bdi bdo trinh bdy y tu&ng su difng thugt todn Fuzzy kit hap PID de gidi quyet van de tren vd giup on dinh hi thdng cd khi cd nhieu dgng cda trgng luc mdy bay. Y tudng duge chung minh Id thdnh cong vd diing ddn trin md hinh Heli2DOF.
Tu khda: Mo hinh HelilDOF. gidi thudt fuzzy-PID.
Abstract: HeiilDOF model is designed in the laboratory for studying of basic problem in the helicopter control Due to its mechanical structure, the helicopter has itself created the unwanted moments while operating that effect to the flight This issue should be controlled by the automatic controller in order to reduce the burden on the flight operator. This paper presents the idea of the Algorithms of PID combined with Fuzzy that solve this issue, also it is stability assistance of the system, even there is the disturbance of aircraft gravity This idea has been successfully on this Heli2D0F model.
Keywords: Automatic Control Helicopter 2D0F, Fuzzy-PID control Heh 2D0F, Helicopter 2D0F. Nonlinear MIMO system.
1. Gidi thieu
Mdt frong nhihig yeu td anh hudng den chat lugng bay cua may bay true thang Id su thay ddi ciia frgng lyc, khien mdy bay khong giii dn dinh do cao frong khdng gian vl du nhu vi?c dao dgng ciia nhien lieu la chdt long hay nudc lam mat frong thung chiia, su thay ddi vi tri cua hanh khdch, hay cac yeu td ngoai luc nhu gid, tai frgng tdng them dot nggt... Vi tri diem frgng tdm dich chuyen se gdy ra momen xoan fren mdy bay, khi^n cho dau may bay cbiii xuong bode ngoc len hay mdt do cao lam anh hudng tdi chuyen bay.
Dieu kien bay ly tudng Id may bay phai ludn frong frang thai thaiig bdng, do Id than mdy bay d trong vi tri nam ngang song song vdi mat phang chan frdi. Thdn may bay true thang nhu mdt con Idc freo lo Iimg tir canh quat chinh, bat ki su thay dOi eiia diSm frgng tdm cung khien goc freo ndy thay ddi theo va gdy nhilu loan [1], [2]. Cdc phi eong se phai ldm viec vat va hem dk giii frang thai 6n dinh.
Hoac ta co the kiem sodt dieu ndy bdng mdt bd dieu khien tu dgng. Tuy nhien, bdn chdt sinh ra thanh phan nhilu loan ndy khd cd the md hinh hda bang cac phuang trinh toan hgc
chinh xac, nen chiSn luge dua ra dd la xay dung cdc bg di8u khien phi my8n dua fren du kien ddu vao khdng chac chdn. Danh gia ciia su thay ddi frgng tam anh hudng den hieu suat may bay true thang duoc xdy dung frong [1],[2].
Cac khao sdt va danh gia tinh phi tuyen cua he Heli 2D0F duoc trinh bay frong [6].
Bai todn on dinh he thong nay da duge nghien cim giai cjuyet bang nhi^u thuat toan khac nhau. Bd dieu khien ben vung dua fren hai che do trugt duge xdy dung [3], frong [4]
su dyng bg dieu khien Neural my6n tinh tOmg phdn tap trung vdo bdi toan kiSm soat do cao.Thuat todn thich nghi duge dp dyng frong [5], ket hop vdi bd quan sat udc lugng frang thai cua he thong dua fren cac tieu chudn dn dinh. Cac phuang an fren d6u chiing mmh duge tinh khd thi bang thue nghiem tren md hinh Heli2D0F.
Trong dieu kien bay thue te, may bay tiyc thang chiu tdc ddng bdi rdt nhieu nhiing yeu td nhieu frong mdi dardng dnh hudng den chdt lugng bay, nhu gid, dp sudt khdng khi, nhiet do, do dm,... Vdi md hinh Heli 2DOF frong phong thi nghiem, ngudi thue hien md
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phdng tdc ddng nhilu gid tdn sd thap <3Hz vd nhieu khi thay ddi tai.
Tac gia d6 xuat bg dilu khiln logic md nhdm hieu chinh eae he sd PID, sao eho phan ling hieu qua vdi tinh phi tuyin cua he thdng frong bai toan dieu khiln vi tri gde elevator (Pitch) vd azimuth (Yaw).
Vdi nhimg uu diem cua bd dilu khiln PID la do tin cay, dan gian, khdi lugng tinh toan it, d l dang xay dung fren cac vi dieu khien bang ngdn ngir lap trinh nen rdt duge ua chudng frong dieu khien cdng nghiep, cdng vdi tinh linh boat ciia bg Fuzzy la khdng can hieu biet qua sdu v l md hmh todn hgc ciia ddi tugng md duge xay dung fren ca sd quan sdt vd kinh nghiem cua ngudi dieu khien v l he thdng.
Md ta h | thong
Kit cdu vat ly he thdng Heli 2D0F duge the hien frong (hinh I) [3]. Ddi tugng gdm mdt canh quat cd true quay vuong goc vdi tryc Pitch, tuang duong canh quat chinh cua mdy bay true thang. Va mdt cdnh quat ed tryc vudng gde vdi tryc Yaw, tuong duong cdnh quat duoi. Ca he thdng duge gdn lien ket vdi gia bang hai khdp quay quanh hai tryc Pitch va Yaw.
2 • [^pp- ^ - nihelie- 9 h- sine + kpy. Uy - Bg. e]
ijj = -^. \kyy. Uy. sine - kyp.Up sine — B^
(*) (**)
khiln ta coi he thdng Id 2 khau SISO dgc lap va thanh phan M^, Mgy la nhieu tdc dgng len he thdng, tuy nhien thdnh phdn nhieu nay hoan toan cd the do duge bang each khdo sat de tinh todn Kpy Vdi muc tieu triet tieu thanh phdn nay thi phuang an dua ra:
lip- Up^ - Kpy. Uy (vdi Upx va Uy^ Id _ „ tm hieu sau 2 bd Uy-Uy,-\- Kyp.Up ^^g^J^g^J
ffiO
Hinh 2. Cdu tnic dieu khien Ket qua mo phdng:
Hinh 3. Bo dieu khien PID he thong Heli 2DOF Setpoint Pitch = 30 do, goc Yaw = 0 dg
Lira chgn bg dieu khien PID, vdi cdc he sd dieu khien chinh dinh bang phuang phdp Ziegler - Nichols. Vdi mgt sd dieu kien thue:
Deadzone Up tir 0 den 1 (v).
Samration Up tir 0 den 5 (v).
Deadzone Uy tii 0 den 0.8 (v).
Samration Uj, tir 0 den 5 (v).
Hmh I. M6 hinh can bdng momen cua he Heli 2D0F Theo [6], ta co he phuang trinh vi phan md ta he thdng:
d
2. Mo phong bo dieu khien FID cho he thong HeU2DOF.
Heli2DOF la he thdng MIMO vdi 2 ddu vao Up va Uy 2 ddu ra la vi tri goc Pitch vd Yaw, de dan gian bdi todn va cdu tnic dieu
Hinh 5. Ddp ung goc
i; Journal of transportation science and technology. Vol 16,.Aug 2015
Dap ung tai cac setpoint khac nhau:
Hmh 6. Ddp img goc 9 setpoint = 30. 20, 50. 0. 50 do
Hinh 7. Ddp ung goc i/» = 30. 120. 80. 240 do Nhan xet:
Heli 2D0F la h? thing phi tuyin cao do momen tdi la dang hdm sin va ddc tinh phi tuyen ciia luc ndng do canh quat sinh ra, nen bg dieu Ichien myen tinh PID chi ddp img tuang ddi tdt tai mgt diem lam viec vdi cac he so dieu khien phai duge hieu chinh ti mi.
De dat duge duge ehdt lugng dieu khien tot cdn nghien ciiu nhung bg dilu khiln phi myen.
3. Xdy dung bd dilu khien Fuzzy- PI&D cho he thong Heli2DOF
Myc tieu cua bg dieu khien Fuzzy nham hieu chinh cac thong so P,l va D sao cho phu hgp vdi nhimg khoang tuyen tinh khac nhau ciia h6 thdng.
Y tudng duge xdy dung fren ca sd sau : Vi ket cdu mo hinh co thdnh phan momen Fg.lg.sinOpbi tuyen dong vai tro Id tai, frong khi tin hieu Up Id tuyen tinh sinh ra bdi bd dieu khien PID nen khdng phii hgp vdi ddc tinh tdi vd gay ra do qua dilu chinh ldn tai cac setjioint khac nhau nen tuyen tinh hoa tdi phi tuyen thanh cdc khoang myln tinh vdi mSi khodng Id bd dieu khiln PID khdc nhau vdi thong so phii hgp. Dong thdi quan tdm den sai so e eiia goc Pitch.
Hinh 8. Cdu true bd diiu khiin he thong Thiit lap Fuzzy Toolbox
fmiti^iBC 9
Hinh 9. Cdu true bo Fuzzy
Hmh JO. Hdm lien thuoc ngo vdo e (trdi), r (phdi) Mien xac djnh cua cdc bien ngo vao ciia bg dieu khien md duge xdc dinh:
e e [ e m i n , e ^ a J -» e e [-1,1]
r £ [sin 6 0 ° , sin 90°] ^ y e [0.867.1]
Hinh II. Hdm lien thuoc ngo ra Kp vd Ki (citng ludi) {Kp,Ki} cua bg dieu khien md duge xdc dinh xung quanh gid tri {Kp ZN-> I^UN) ^^^
duge tu phuang phap Zigler-Nichols, vdi a=0.5va^=1.3
^^P_ZN < Kp < PKpzN
^K, ZN < KJ < PK,_zN Luat hgp thanh duge phat biiu:
Niu r ldn thi Kp ldn vd Ki ldn, r nhd thi Kp nhd vd Ki nhd...
Neu e ldn thi Kp ldn vd Ki ldn, r nhd thi Kp nhd vd Kinhd...
TAP CHl KHOA HOC C 6 N G NGHE GIAO T H O N G VAN TAl, SO 16-8/2015 53
Bang I. Lugt hgp thdnh
e NB NS ZE LS LB
r S M/M
S/S VSWS
S/S M/M
M H/H M/M S/S M/M
H/H L VH/VH
H/H M/M H/H VHATl
4. Kiem nghiem giai thu^t tr€n mo hinh thirc
Ket qua mo phong:
EH-^x:A^^;^M-
Hinh 12. Bo dieu khien Fuzzy-PI&D cho goc Pilch hi thing Heli2D0F
Hinh 13. Cdu true bg dieu khien Fuzzy-PI&D cho goc Pitch
Hinh 14. Bdp ung goc Pitch
Hinh 15. Ddp ung goc Yaw
Hinh 16. Md hinh Heli 2D0F sau khi ihi cong He thong difn va dilu khiln:
Kit STM32F4 dgc tin hieu ddt tir may tinh va tin hieu phdn hdi vi tri gde Pitch vd Yaw tir encoder, tinh toan giai thudt va xudt ra tin hieu dieu khien toe do 2 motor thong qua bd dieu tdc ESC, dap ling cua he thing duge quan sat tren may tinh qua cdng truyen thong, tan so lay mdu ciia he thong duge ebon Id 50Hz.
Hinh 17. Cdu true hi thong diiu khiin vd quan sdt
— i Dap ung he thdng vdi cac setpoint
Nhgin xet: Bd dilu khien Fuzzy PI&D fren md phdng da khac phye duge nhirng nhugc diem eua bg PID ddi vdi goc Pitch, triet tieu do vgt Id. Ddi vdi gde Yaw, sii dyng edu tnic windup chg bd PID, ta eung triet tieu
duge dg vgt 16 nhu dap ling hinh 14 vd 15. Hinh 18. Bdp img goc Pitch vdi bo dieu khiin Fuzzy-PI&D
Journal of transportation science and technology, Vol 16, Aug 2015
Hinh 19. Ddp unggoc Yaw vai bg dieu khien PID- windup
Dap ung vdi nhi?u tai 350g (60%) tai giay thii" (4).
Setpomt Pitch -180 tuong duong 30 do.
Setpoint Yaw = 0.
Hinh 20. Bdp unggoc Pilcli Dap irng voi nhieu gio thoi ngang tan so bat dinh < 3Hz, toe do gi6~60kni/h, cudng do gio ~ 8N.
Hinh 21. Bdp img goc Pitch v&i nhieu gio ngang
- ^ . ^ • - v ^ ^ -
Hinh 22. Bdp ung goc Yaw vdi nhiiu gio ngang Nhain xet: Dudi cudng do gid tucmg ddi ldn, ngodi luc tac dung tryc tilp len thdn md hinh thi vdi toe do gio cao con anh hudng tdi luc khi dgng hgc, he thdng hi dao dgng khdi vi tri cdn bang dac biet Id goc Yaw, my nhien van frong frang thai kiem sodt khdng bi mdt dieu khien. Khi cudng do nhieu la dn dinh thi he thdng nhanh chong ldy lai vi tri thdng bdng.
5. Kit luan
Md phong fren Matlab de tim ra uu nhugc
diem timg phuang phdp vdi doi tugng Heli 2D0F.
Xdy d\mg duge bg dieu khien Fuzzy- PI&D vi tri g6c Pitch va gde Yaw cho ddi tugng Heli 2D0F khdc phyc dac tinh phi tuyin ciia he thdng.
Vdi nhilu tdi gid gdy ra mat kiem soat lye khi dgng hgc cua canh quat, tinh phi tuyen cua he thdng Id rdt cao, tuy nhien bg dieu khiln vdn dam bdo he thdng khdng mat kiem soat, vdi nhilu bdng 50% gid tri tdi, he thong lay lai vj til cdn bdng nhanh nhung bien dg sai lech vdn con IdnQ
Tai li^u tham khao
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Gareth D. Padfield, "Helicopter Flight Dynamics The Theory and Application of Flying Qualities and Simulation Modeling" Second Edition Blackwell Publishing, 2007.
Ahmed, A.I.Bhatti, I.H. Kazmi, 2- Sliding Mode Based Robust Controlfor 2-DOF Helicopter, Ith IEEE W orkshop on Variable Stm ctu re Systems Mexico City,Mexico,June 26-28,2010.
Pefr Dolezel, Libor Havlicek, Jan Mares, Piecewise-Linear Neural Model for Helicopter Elevation Control, Intemational Joumal of Confrol Science and Engineering 2012.
Oscar Salas, Herman Castaneda and Jesus De Leon-Morales, ATTITUDE OBSERVER-BASED ROBUST CONTROL FOR A TWIN ROTOR SYSTEM, KYBERNETIKA—
VOLUME49(2013), NUMBERS, PAGES809-828.
[6]. Ts. Vd Cdng Phuang, Ks Nguyen Thanh San, "Khdo sdt vd xdy dung md hinh todn mdy bay true thang hai bac tu do", ki yeu hdi nghi tu ddng hda, khoa Di?n- DTVT, trudng DH GTVT tp HCM 2014.
Ngjy nhan bdi: 5/8/2015 " W^- Ngiy chap nhan dang: 25/8/2015 ';v Phan bien: TS. Qudch Diic CuJmg
