DIEU KHIEN THICH NGHI CO AP DUNG MANG NORON - MO CHO HE DIEN CO LIEN KET DAN HOI
ADAPTIVE NEURON -FUZZYOF NONLINEAR
ELECTROMECHANICAL SYSTEM WITH ELASTIC DISTORTIONS
TS Vo Cong Phutmg, ThS Dodn Diim Vmmg, KS B6 Thi Nguyet Khoa Diin - Dien tir vien thdng
Tdm tdt: NhOng he dien caphi tuyen dugc ung dyng nhiiu trong cdc may mdc cdng nghiep nhu:
tay mdy ro bdt, h0 hTjyin dgng mam xoay, he thing chdn vit tdu thuy... tin tgi khdu khe hd vd bien dgng ddn hoi ldm cho dgc linh truyin dgng cua hi thay doi khd nhieu. Ngdy nay, vdi suphdt trien mgnh me cua cdc bg dieu khien thong minh, da dap ung dugc yeu cdu dieu khien cdc ddi tucmg phi luyen khd cd khd ndng mo hinh hda chinh xdc nhu tren. Vi vgy cdc tdc gid bdi bdo da thiit ki bg dieu khien thich nghi CO dp dung mgng naron - md nhdm ddp tdt dao dgng vd tdi thieu thdi gian ddp ung cua doi lucmg dien ca lien kit ddn hoi.
Abstract: Nonlinear electromechanical systems with elastic distortions use in the industrial machines such as robotic memipulators, turntable structure, ship propeller systems... existing gaps and elastic deformation which make the transmission characteristics of the system to have changed quite a lot.
Nowaday, following the strong development of smart controllers are met the requirement for the control of nonlinear systems that exact modeling is too hard. So, the authors of paper designed an intelligent controller based on adaptive fuzzy - neural networks in order to obtain dampen vibrations and minimize response time of the object.
Keywords: Adaptive neuron-fuzzy, two mass with elastic shaft system, ANFIS controller
1. Gidi thi^u
Cac doi tugng la he dien eo co lien ket dan hoi yeu eau dieu khien chinh xac nhu: he tay may, he truyen dgng mam xoay... ton tai nhihig khau phi tuyen, thong so ciia doi tugng bi thay doi, nhilu tu moi truong, dong thoi tdn tai yku to dan hoi gay nen hien tugng rung ISc lam giam dg chinh xae cua bg dieu khiSn. Cac doi tugng thuc tren duge mo hinh hoa thanh he di?n co 2 trgng khoi c6 lien ket dan h6i. Hien da co kha nhi€u tac gia nghien cuu va thigt k6 bg di§u khien doi tugng dien CO hai trgng kh6i lien ket dan hoi nhu: Dieu khiln toe dg ciia h? [1-2]. Voi eae he thdng dgng ca co tinh quan tinh Ion va lien ket gifia cac phSn tii thong qua he thong true dai, day dai ton tai khau dan hoi co xu huong gay moment xodn tren true nhu: he thong servo, canh tay robot ho^c h? thong antenna trong khong gian dugc d£ cap trong tai lieu[3-6]
khong bam sat thi^c le vi khong xet toi hieu suit ciia h?. Bg diSu khien PI/PID cung dugc ung dung trong tai li?u[7]. Phuang phap nay chi CO hieu qua khi cac thong so cua he thong da ndm ro va khong bi thay d6i trong qua
trinh hoat dgng, voi doi tugng dang xet thong s6 doi tugng chua xac dinh chinh xac nen bg dieu khien chua dat ket qua mong muon. Voi bg dieu khien dugc su dung phan hoi bien trang thai tu mo-men xoan tren true va toe do tai [8], he thong co nhung diem cue dugc gan truac. Do chua the xac dinh dugc diem cue toi uu nen chat lugng dieu khien chua dat yeu cau. Voi nhimg van de con ton tai 6 bg dieu khien de cap a tren, tac gia da nghien cuu va thiet ke bg dieu khien thich nghi ap dung mang neuron - mo va nhan dugc mgt so ket qua kha quan hon.
2. Doi tuwng dieu khien 2.1. Cofso^ly thuyit
Doi tugng la he dien ca phi tuyen hai trgng khoi lien ket xet toi yeu t6 dan h6i va dua ra phuong an dieu khien thich nghi ap dung m ^ g neuron - mo vao dilu khiln d6i tugng nham dap tit cac dao dgng dan hdi cgng huong phat smh do ydu td dan hdi, ddng thoi dam bao tinh tac ddng nhanh cSn thiet de dn dinh goc dia thu 2.
So do cau true he dien ca phi tuydn hai
I
trgng kh6i lien kSt dan h6i(hmh 1).
i i
Hinh 1: CSu true ciia ddi tugng dieu khien Trong do:
DC - dgng ca dien 1 chiSu; BBD - bg bi6n ddi cong suit; BDCVT - bd dilu chinh vi tri; BDCTD - bg dilu chinh tdc do; CBTD - cam biln toe do; CBVT - cam bien vi tri;
Nhi^m vu dat ra la phai dap tat cac dao dgng dan hdi nay sinh d trong he, ddng thdi phai tdi thieu thai gian tac ddng tdi qua trinh qua do cho gan bang vdi lien ket cung hoan toan.
Gia thiet rang hang sd thdi gian dien tir cua he tmyen dgng nhd hon rat nhilu so vai hang sd thdi gian dien co. Khi do md hinh toan hgc ciia h? dien co xet tdi yeu td dan hdi cd h? phuang trinh vi phan nhu sau:
£/, = ^ = ( 0 j (1)
(^z=J~i{f.~^J (2) m, =p((y|-(y,) (3)
^-•^,'(A/„-/„) (4)
^ . = f^:!K{"~K<»i) (5) Trong dd:
(p-\'\\x\ (gdc quay cua tai);
cDi, C02- van tdc quay khdi 1 va 2;
my- moment dan hdi bd qua khe hd;
J,, J;~ momen quan tinh khdi 1 va 2;
/?-h? sd dan hdi ciia lien kit;
/?u-di?n trd thuan mach phan iing;
kc km- cac hang sd may dien;
ky- h? sd ciia bg bien ddi;
/ - momen dan hdi khi tinh din khe hd 26 trong lien ket dan hdi.
(m^-pS, khi my>pS;
f^=\o,\ihi\m^\<pS; (6) {[m^ + pS, khi m^<-pS.
Mcx- moment ma sat khd:
M„o = ( 0 . 1 ^ 0 . 3 ) M , „ (8) Mdm - moment quay dinh muc DC
u^=g?^ - tin hieu dat
Cac md men quan tinh va hd sd dan hdi la cac dai lugng rat khd xac dinh, cho nen chung ta lam gan diing chiing bang cac gia tri trung binh khdng ddi nao dd:
Dat '^l~*^01''^2 ^02'P Pa
^\ ~ "^02 ' ^2 ~ pQi^'h ~ "^02 '
a,=-JilR'JKK;b=JllK\k^
Khi dd he phuong trinb (1) - (4) dugc tuyln tinh hoa va viet a dang ma tran nhu sau:
x = Ax + K
(9)
y = c x (10) Voi:
A=
"0 1 0 o l 0 0 a, 0 0 -aj 0 aj ;b=
0 0 aj a.,J
"Ol
0 0
•
.bJ
e = [ l 0 0 0 ] ; x = l q 2 fl>2 m^ (oA Trona d o :
X-bien trang th ii cua
(t(
i tugng datuyen tinh hda.y - ex - dau ra ddi tugng.
2.2. Mo phong dot tirgrng khi chu-a sir diJing cac bd dieu khien
Tren co so he thdng cac phuong trinh (1) - (4) ta xay dung so do khdi trong Matlab - Simulink md phdng he thong dien co hai trgng khdi lien kit dan hdi vdi vdng phan hdi am don vj (hinh 2)
70
-M;
Hinh 2: Doi tugng dieu khiln khi diing vong phan hoi am dan vi Ket qua md phdng cua d i u ra nhu sau :
w tn OB baiA Ihu 2 Uw ch Aug noig plan ha a n (fan H
1:1
L L
!k f\
1 i
1ll ' ''
1
h i ., • '•
||i^
'!(!'
1 •
' : :
T : ;"""""
Hinh 3: Dap iing vi tri ciia banh thii 2 khi diing vong phan hoi am dcm vi Ket qua md phdng cho thay he dao dgng kha lau tnioc khi dn dinh (gan 60s). Bai bao nay sir dung bg dieu khien thich nghi cd ap dung mang neuron - md nham dap tat eac dao ddng dan hdi , dam bao tdi thieu thdi gian tac dgng cho he trong dieu kien khdng xac dinh chinh xac ciia cac thdng sd va su cd mat cua cac thdng sd nhu khe hd, ma sat khd.
3. B$ dieu khien thich nghi co ap d^ng mang noron - mir
3.1. Cff sd" ly thuyet
LTU dilm cua dieu khien logic md la sir rd rang va linh hoat trong dieu khien dua vao t$p luat N I U - Thi. Vi vay vi?c xac dinh hinh dang va vi tri ciia ham lien thudc cho mdi biln md chi cd thi giai quylt bang kinh nghiem.
Trong khi dd, tinh toan sd, kha nmig nhan fliuc va thich nghi lai la nhiing diem manh cua m ^ g noron nhan tao (ANNs).
Nhung rSt khd xac dinh dugc mgt cau tnic tdi uu (s6 ldp i n trong ANNs va so lugng noron trong mdi lop an) ciia ANNs.
Ngoai ra, ANNs ciing thuc hien viec tinh toan sd nhieu hon la tinh toan ky hieu.
De cd the phat huy uu diem cung nhu han c h l nhugc diem cua hai phuong phap tren (dieu khien logic md va mang noron nhan tao) thi viec ket hgp ca hai phuang phap de tao nen mgt cdng cu xu ly hieu qua hon. Su ket hgp nay la he suy luan noron - md thich nghi (Adaptive Neuro-Fuzzy Inference Systems - ANFIS).
Md hinh ANFIS la mang noron thich nghi bieu diln cu the cua he suy luan md.
Gia sii rang he suy luan md dugc nghidn ciiu ed 2 dau vao x va y va 1 dau ra f.
Xet md hinh md Sugeno bac mdt thi tap luat chung voi 2 luat md Neu - Thi nhu sau:
Luat 1: If X is A.^ and y is 5^
t h e n / i - P i X + (?iy + ri Luat 2: If x is A. and y is B-
then/2 ^ P z x + q'2y + r2 Hinh 4 minh hga mgt ca che suy luan ddi vdi md hinh Sugeno
(11) (12)
Bl
tlX.:,.-te-
Wl
W2
X A Y Y Hinh 4 : Mo hinh mo sugeno bacl / i = P i X + i!iy + i i , / , = p , x + i;2y+ (13)
Nen
f^'MT^'-^^fi^'^fz
(14)II
C5u triic ANFIS tuong duong dugc bieu diln (hinh) diu ra cua niit thii i^^ trong Idp 1 dugc ky hieu la O^.
HinhS : Clu tnic mo hinh mang noron - md CAu true ANFIS tuong duong Ldp 1: Bao gdm nhimg niit thich nghi:
Oi^,= iiA,{x) fori =1,2 (15) Ott = li^,-2 (y) for i - 3, 4 (16) Trong do:
- ^•^,(x) va |iS._2(y): la bat ky ham lien thuge thdng sd hda phii hgp nao
-^1.1- la gia tri lien thudc ciia tap md
-A={A^,AyBj^orB.)
Ldp 2: Bao gdm nhung nut cd dinh dugc ky hi?u la n ma diu ra cua nd la tichctia tat ca cac tin hieu vao:
02.= ^ A ( x ) > B , _ 2 ( y ) , i = ! , 2 (16) Ldp 3: Bao gdm nhung niit co dinh dugc ky hi$u la N dugc diing d l chuin hda:
dilu khien dang xem xet. Chuong trinh Iuy?n bd dilu khiln noron - md vdi luat TSK dugc xay dung tren phan mem Matlab - Simulink.
Dli lieu de luyen nhan dugc tai dau vao vi diu ra ciia bd dieu khien thich nghi trong qua trinh lam viec cua nd vdi cac tin hieu d|it khac nhau va sir thay ddi cac thdng so cua ddi tugng. Sau dd tien hanh md phdng tr€n Matlab - Simulink he dieu khien noron - md vdi md hinh chuan cd bg quan sat ho^c khdng cd bg quan sat. Ket qua khao sat hi?u qua lam viec cua he dieu khien noron - md cd tinh thich nghi dugc so sanh vdi hieu qua lam viec cua he dieu khien modal (dieu khi8n theo dilm cue eho trudc) khdng cd tinh thich nghi trong dieu kien thay ddi cac thdng sd ciia ddi tugng. Theo cau tnic dieu khien h?
thdng (hinh 6) dap img ciia ddi tugng dugc so sanh vdi vdi dap iing md hinh chuan dua ra sai sd e(t), e(t) dugc dua tdi co cau hi?u chinh cac thdng sd theo bg thich nghi. Cac thdng sd dugc hieu chinh dua tdi bd dieu khien neuron - md , xuat tin hieu dieu khien ddi tugng.
W l )
K K K H . X .
B f dlMj khiin nauron - / m *
1
Cv c i u hi(u chlnh
•
CAl liF9ng Oiki khiln
M6 hlnh chuin K|
.1;
Xtnd)
Hinh 6: Cau triic dieu khien he thong 3.3. Ket qua md phong
(17) Lop 4: Bao g6m nhiing nut thich nghi:
04.,= / , = P.x + il,y + r, (18) Lop 5: Bao g6m nhung nut e6 dinh don dugrc ky hieu la 2 duoc dung di tinh t6ng:
JL -'^ (19)
3.2. Thiet k i bg dieu khiln thich nghi
^p dyng m^ng noron - mcr
Viee luy?n bp d i k khiSn no ron - mo voi lu|t TSK va mo hinh ehuin duoc thue hi?n tren co so dit li?u eua bp di6u khiln thich nghi tin hi?u doi vol ciing d6i tu(;mg
Ol
rfrx • MohrHduan
U _ r • Bo <*ai khen noron-TO Q^iMxa
-e
Hinh 7: Thi ft k6 bp diSu khiln ttong Matlab - Simulink
Ket qua mo phong so sanh giiia bp dieu khien gan cue ya bo diSu khiSn noron - mo khi cac thong s6 he thdng thay d6i.
— 6
.,
•E
Sm
i.-*
ll ll
•isuWnpvacac
'-*< ^
T
< 2 3
p;
• - • • j 2 = J 0 2 - 3 J2=J02-J J 2 = J 0 2 ' 6 4
1
I •* § ••[ -: -j
0 1 2 3 4 6
Hinh 8: Dap iing vi tri banh 2 khi J2 thay ddi
deu khen gan a
deu khen noron mo
t^---j ; ;
l ' v ^ •
\ - : —
j {•• - -
[ 1 1 2 3
z:
i
IL i i
5
Hinh 9: Dap ling vi h-i banh 2 khi p thay doi 4. Ket luan
KSt qua mo phong chi ra hieu qua eiia bo dieu khiSn thich nghi ap dung m^ng noron - mo cho ddi tupng phi tuyen lien ket dan hoi hai trpng khdi di lam giam dao dpng, t_6i thi^u thoi gian dap iing va dp chinh xac van dam bao khi thay ddi tham sd.
T^i li^u tham k b a o :
[1] Ohmahe T, Matsuda T, Kanno M, Saito K, Sukegawa T, A "Microprocessor-Based
Motor Speed Regulator Using Fast- Response State Observer for Reduction of Torsional Vibration", IEEE Trans, on Ind, App., vol. LA-23, no.5, 1987, pp. 863-871.
[2] Sugiura K, Hori Y, "Vibration Suppression in 2- and 3-MassSystem Based on the Feedback of hnperfect Derivative of the Estimated Torsional Torque", IEEE Trans, on Industrial Electronics, vol. 43, no.2, 1996, pp. 56-64.
[3] Pacas J. M, Armin J, Eutebach T,
"Automatic Identification and Damping of Vibrations m High-Dynamic -Drives", Proe. of Intern. Symp. on Industrial Electronics, Cholula-Puebla, Mexico, 2000, pp. 201-206.
[4] Hori Y, Sawada H, Chun Y, "Slow resonance ratio control for vibration suppression and distiubance rejection in torsional system"JEEE Trans. Ind.
Eleclr.woh46, no.l, 1999, pp.162-168.
[5] Valenzuela M. A, Bentley J. M, Lorenz R. D, "Evaluation of Torsional Oscillations in Paper machine Sections", IEEE Trans, on Industrial Applications, vol. 41, no.2, 2005, pp. 493-501.
[6] Vukosovic S, N, Stojic M. R,
"Suppression of Torsional Oscillations in a High-Performance Speed Servo Drive", lEEETrans. on Industrial Electronic, vol.
45, no.l, 1998,pp.l08-117.
[7] Zhang G, Furusho J, "Speed Control of Two-hiertia System by PVPID Control", IEEE Trans, on Industrial Electronic, vol.
47,no.3, 2000, pp. 603-609.
[83S2abat K, Orlowska Kowalska ,"Comparative analysis of different control structures of two-mass system", Proe. of f''OPTIM'2004, Brasov, Romania, 2004, CD
Ngay nh^n bai: 15/12/2013 Ngay chSp nh$n dang: 31/12/2013 Phan Bien: TS. Dang Xuan Kien
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