Tgp chi Khoa hoc - Cong nghe Thiiy sdn So 3/26}]
THONG BAO KHOA HOC
ITNG DUNG DIEU KHIEN MCT TRONG TlT DONG DIEU KHIEN DONG CO DIESEL TAU THUY C& NHO
USING FUZZY COXTROL IN AUTOMATIC CONTROL DIESEL ENGINE OF SMALL VESSEL
Doan Phiro'c Thif Ngaynhanbai: 14/3/2012,Ngayphanbi?n thong qua: 12/6/2013; Ngay duy?t ding 10/9/2013 T O M TAT
Bdi bdo ndy giai thieu vi viec ung dung li thuyet dieu khien md trong tyr dpng dieu khien dQng ca diesel tdu th^a nho. Mpt gidi thudt ma da duac thiet ki vd cdi dat thdnh cong cho thiet bi tu dpng dieu khiin tay ga dgng ca. Ket qui ik nghidm thifc te tren dgng ca Yanmar-4CH cho thay syr ldm viec dung dan cda gidi thuat, phii hpp vin yeu cau dieu khiena dpng cho dpng ca diesel tdu thuy ca nho.
Tir khoa dieu khien ma, dieu khien tu dong, dong ca Diesel ABSTRACT
This article introduces the application of fuzzy theory in automatic control diesel engine of small vessel. Thejimf algorithm has been designed and successfully installed for the device to control automatically the diesel engine Tk results of testing on Yanmar - 4CH engine showed that it was suitable between the fuzzy algorithm and the requiremenli automatic control for diesel engine of small vessels.
Keywords, fuzzy theory, diesel engine, automatic control.
I. OAT V A N Dt
Nhdng nam g i n day. vide irng dyng mgnh me cdng nghd cao trong vide xdy dgng edc hg thing dilu khiln tg ddng trang bj che cdc thilt bj vd cdc hd thing tren tdu cd y nghTa dde bigt treng viee nang cao chat lugng Idm vigc, dp an todn, tin egy va tinh kinh te cua con tdu.
Trong thgc te nude ta hien nay, hlu h i t edc dpng ca chinh trang bj frdn cdc tdu thuy ea nhd id cdc dpng ca ngogi nhgp, vdi nhieu chting ioai vd thudng da qua sir dung, edc dyng cy do ludng, kiem tra trdn dpng ca khdng cdn dil, tdi lieu hudng din ky thudt di kem r i t it nen khdng eho phdp ngudi sir dyng ed day dti eo sd de khai thae thilt b[ dpng Igc higu qud nhit d l ddm bae tin cdy eho tdu di biln. Mat khdc, doi tugng sir dyng thudng Id cde ngu dan khdng dugc trang bj dly dO kiln thtre ve vgn hdnh mdy tdu ndn cd xu hudng su dung khdng hgp li Idm tang gid thdnh khai thdc, gidm tuoi thp dpng ca. Trong mpt so tnrdng hgp edn gdy hdng
hdc ngay trong qud trinh su' dyng, dilu ndy d$c bi^
nguy hiem khi tdu dang khai thdc xa bd. Vi v|y. # nghidn ctru cdng nghd vd thilt bj d l tg dOng ^eu ehinh qud trinh Idm vigc hgp li ehe cdc fldng ccfren Id het sirc can thilt trong boi cdnh hien nay
Dilu khiln md id mdt trong nhirng ky ttiugldeu khiln hign dgi irng dyng fri tue nhdn tgo trong linti vue dieu khien. Vdi ky thugt md phdng trdn phifcrng thi>c xtr li' thdng tin vd dilu khiln ctia con ngucri n^n cdn dugc gpi la dilu khien "thdng minh'. Kh^c han vdi ky thudt dieu khiln kinh ffien Id hodn toan (i?i vdo su ehinh xde tuygt doi eua thdng tin ma Irons nhieu irng dyng khdng c i n thiet hogc khdng ttiSoJ dugc, dieu khien md chi can xij \'i/ nhirng thong tin
"khdng chinh xdc" hay khdng day dCi md vin c6the dua ra nhOng quyet ^ n h chinh xde.
Ky thugt dilu khiln nay ddp ung dugc yeu cai dieu khien eho cdc dpng ea diesel tdu thiiy c6 ciA trinh idm vigc vdi tinh chit ciia phy tdi lidn tyc m ddng (do sg thay d l i hudng gid, ddng chdy, si/thay
1 Doan Phirdc Thp. Khoa Ky thu^t giao theng - Tn/irng Ogi hgc Nha Trang
60 • TRUONG DAi HOC NHA TRANG
Tgp chi Khoa hoc - Cong nghe Thuy sdn So 3/2013
doi cua chieu chim, frang thai vd tdu, trgng thdi kythudt ciia ddng ea...) keo theo sg thay floi lien tyc cOa edc thdng s l vdn hdnh. Su thay doi cua cdc thdng s l ndy ludn "khdng flay dti", "khdng chinh xdc" vd "khdng ehac ehdn" ndn r i t khd sir dyng ky thudt kinh d i l n d l dilu khiln. Vi vdy, dieu khien md dugc lua chpn d l xdy dgng gldl thudt dilu khiln eho bp dieu khien tay ga tu ddng.
II. D 6 | TU-gNG VA PHU-ONG PHAP NGHIEN CCHU Qud trinh thgc nghiem duge tiln hanh tren ddng ca Yanmar-4CH cd tgi Phdng Thgc hdnh Bg mdn Ddng igc, Khoa Ky thugt Giao thdng, Tnj'dng Dai hpe Nha Trang. Dpng ea Yanmar-4CH Id mpt trong nhirng dpng ea thuy dugc sir dyng nhilu tren cac tdu cd, tau giao thdng thdy ed nhd. cd edc thdng s l ky thudt phii hgp, dai dign cho doi tugng nghien ciru. Thiet bj tao tdi flugc sir dyng Id phanh thtiy Igc Dynomite 13 Dual - rotor eua hang LAND & SEA.
Phuong phdp nghien euu dugc Iga chgn kit hap giua li thuyet vdi thuc nghigm. Thdng qua khdo sdt, tong hgp cae k i t qua nghien ciru, cdc irng dyng cd trude fli xac djnh moi lien hd giira ede thdng so vdn hdnh, che dp ldm viee eua ddng ea diesel tdu thtiy ca nhd vd yeu cau ve vdn hdnh hgp li ctia dgng ca. Tren ca sd do phan tich vd lua chpn cde thdng s l vdn hdnh, thda man ydu eau v l vdn hanh hgp l(. Idm thdng so dilu khiln. Dga vde thgc nghigm d l kiem chtrng m l i quan hd ndy tu do xdy dgng gidi thudt dieu khien md Gidi thuat dilu khiln dugc chip nhdn trdn ca sd thtr nghiem su Idm vide cOa bd dieu khiln vd higu chinh nhilu lan cho d i n khi bp ^ e u khien lam vide thda man dugc yeu eau dilu khien dgt ra doi vdi doi tuang nghien ctru III. K£T QUA NGHIDN ciru vA THAO LUAN 1. Lya chgn thong so d i l u k h i l n
Co sd de xdy dung bd dieu khien tay ga tu ddng Id dilu khiln lugng nhidn lieu ehu trinh sao cho cdng suit dpng co phdt ra phii hgp vdi cdng suit ciia tai. ddp ung dugc hdnh trinh eua tau. Ding thai, phdi dam bdo cho qud trinh ldm viec tin cdy ctia ddng ca. logi trir kha ndng ldm vigc qua tai eho dpng ea. Qud trinh ldm vigc cua dpng ca dugc xem xdt dga tren 3 chi tidu ca bdn: chi tidu kinh te - ndng lugng, d'ng suit ea vd tipng suit nhiet. [3], [4]
Dgc tnrng cho chf tidu ndng luang cua ddng ca cd cae thdng so: dp suit P^. cdng suat dgng ca N^, momen dpng ca M^.
Ddc trung eho tai trpng co hpe ec ede thong s l ' dp suit khi chdy ldn nhit p^. tl so tang dp suit P^P^.
toe dd tdng dp suit Dp/Dj.
Ddc trung cho tdi trpng nhiet cd: nhidt dp nude ldm mat t^,, nhidt dd khi xd t^, dp suit chi thi p, vd vj fri tay ga nhien lieu
Lua chpn thdng so dilu khiln cho bg dieu khiln tg dpng d n thda man ydu cau ve tinh kha thi cua phuong dn. Tot nhat cho dilu khiln tu dgng la giam sat duge todn bp cde thdng so da ndu d tren. Tuy nhien, doi vdi cdc dgng ca thuy cd nhd vige trang bj cac cam biln dp suit se Idm tang gid thdnh do cdc cdm bien nay cd gid rat eao. Han nira, de ldp ddt cdc cam biln ndy ta can can thiep sdu vao flpng ea do id khoan Id d cde xy lanh tgi cdc buong chay.
Nhu vdy, phuang an ndy id khdng kha thi doi vdi dli tugng nghidn ciru.
Trong cac thdng s l ndu trdn. nham kiem tra tinh trgng lam vigc ciia dpng ca vigc sir dyng ede thdng s l s l vdng quay va nhigt dp khi xa Id don gidn hon ca (gia thdnh thilt bj thip, each thuc tiln hdnh dan gian khdng c i n can thidp sau vde dgng co) So vdi nhidt dp khi xd, nhiet dd nude ldm mat cd qudn tinh chdm, khdng phdn dnh kip thdi tinh trang lam vigc cua ddng ca. nen khdng dugc Iga chon Idm thong s l dieu khiln.
Thdng s l toe dd vdng quay ciia ddng ea se quylt dinh d i n t i c dd hanh trinh ciia eon tdu, toe dd vdng quay thap sd khdng flam bao dugc hdnh trinh cho trude. Nguge lgi nlu so vong quay vugt qua s l vdng quay cho phep sd lam tang edng suit, tdng tai trpng quan tfnh gdy nguy hiem eho dgng ca va chinh con tdu,
Nhiet dp khf xd khdng nhu'ng Id thdng so phan anh ung suit nhidt ctia dpng ca md d mpt mirc dd nhit dinh nd cdn phan dnh tinh trgng phat edng suit ciia ddng ca Trudc ddy tren eac dong eo eo ldn d l giam sat sg can bing edng suit d cde xylanh eua ddng ca ngudi ta diing cde dong ho nhigt dp flat tgi cac eCra xa etia dgng eo. Thdm ehi, a mpt so ddng ca ngudi ta edn diing nhiet dp khi xd fle xac dinh cdng suit flpng ca khi tinh trgng ky thugt cOa ddng CO cdn t i t [4]. Thgc nghiem tren flpng eo Yanmar- 4CH tai phdng thgc hdnh dgng ea dot trong thupe Bd mdn Ddng lgc da ehung thgc moi quan he ndy.
Vi vdy, ehung tdi lua ehpn 2 thdng so nay ldm thdng so flleu khiln cho bd flilu khiln tay ga tu dpng.
2. Xay dgng giai thuat dieu k h i l n
Thilt k l he md dugc b i t dau bang vigc xde dinh cac bien ngdn ngir dimg trong hg thing. Cde bien nay duge xem nhu Id nen tdng che cde ludt hogt fldng. K l flin Id thiet k l c l u triic eua hg, mang thdng tin v l ddng flilu khiln ben trong hg, nhu la tgp md nao kit hgp vdi tap md ndo, dua ra tap md ndo,... Thilt ke he ludt duge xem nhu id phan thiet
TRUONG DAi HOC NHA TRANG • 61
Tgp chi Khoa hoc - Cong nghe Thuy sdn So 3/2013
k l chinh ylu, t h i hidn fri thirc cua con ngudi ved l i tugng dang flilu khien. Cuoi edng Id lua chpn phuang phdp gidi md thich hgp. [1]. [2], [5], [6]
Bg dilu khiln Idm vigc dga trdn hai thdng so dilu khien d i u vao Id toe dp dpng co vd nhiet dp
khi thai. Tren co sd sg thay doi ciia hai thdng so ndy, bp d i l u khiln se quyet djnh thay doi v| trf tay ga de d i l u chinh lugng nhidn lidu phu hpp d p cho ddng ca. Cau true cua chuang trinh diei khiln nhu sau:
Toe dp d$ng CO n
khi thdi tfo
Mo'hda
MJrhda
R, If . . . T I » n . . .
Tao luat hgp th^nh
Giaimo' Vitri tay ga nhiSn
Hinh 1. Cau true cbuamg Theo SO flI tren. hai bien ngdn ngir dau vdo id toe dp ddng ca vd nhidt flp khi thdi cdn bien ngdn ngir dau ra Id lugng thay dol tay ga nhidn lieu d p eho dpng co.
Cd khd nhilu dgng hdm dieu khien nhu hdm chir Z, chu' S, dgng hinh thang, dgng tam gidc [1], [2], [6] nhung do ydu d u ctia bd flilu khien d n trdnh sg tdc ddng flilu khien lien tyc gay nguy hilm cho dpng ca ndn ehung tdi chpn hdm phy thude thee hinh thang. Vdi dgng hdm ndy se ed nhirng khodng gid trj cda biln md d fld dp phu thudc khdng dli bing 1, din tdi tay ga se duge giir nguydn vj tri trong nhung khedng gid tri xde djnh eOa biln. D l fldm bdo eho bp dieu khien lam viec
trinh dieu k h i l n mil
linh hogt chpn s l gid trj cua bien ngdn ngu fliu vao Id 5 vd d i u ra Id 6
Bd dieu khiln mau flugc thilt k l d l dieu khl^n tay ga cho dgng ca Yanmar-4CH tgi Bp mdn Dijng luc. VI vdy, can cu vdo khd ndng chiu tdi ctia bd, tinh trgng ky thudt hidn tgi cDa flpng ca, kit hgp vdi ket qud ehgy thO nghidm chiing toi chpn mien xac dinh eiia cdc biln nhu sau:
- Biln ngdn ngO- t i e dp n = [1100 -^ 1800] rpm;
- Biln nhigt dp ung vdi gid tri tpc dp khai thae \k khodng t = [260 + 400] ("C).
- Biln ngdn ngir eho flau ra Id lugng % thay floi vj fri tay ga cd gid trj (-20) flIn (+10) Id lugng thay d l i % tay ga quy udc.
1100 1200 1 » 0 1400 1!00 1600 1700 1800 n(ipin) <>
Minh 2. Mien lac djnh ciia b i l n ngdn ogu toe dg quay vi nbi^l d9 khf x i ciia t Xdy dgng ludt hgp thdnh cho chuang trinh dieu khien theo bdng dudi:
Bang 1. Lugt hgp thdnh cho chuvng trinh dieu khien
40» TIdiiripC}
BI£N NGON NGCj T6C
BO Rat thap
Thap Vira Cao Rat cao
BI£N NGON NGO NHI$T E>0 Rit thap
DN6 DN6 DN4 DNS D M
Thip DN6 DNS DN4 DN3
• N 1 Vira DN4 DN4 DN4 DN2 DN1
Cao DN3 DN3 DN3 DN2 DN1
Rit Cao DN1 DN1 DN1 DN1 DN1 V*l DN1 tay ga giSm nhi4u (-20%), DN2, lay ga giSm vira <-10%); DN3; tay ga giSm it (-5%);
DN4. tay ga khdng doi (0%): DN5- tay ga tang il (+5%); N6 % tay ga tang vira (+10'J4).
62 • TRUONG DAI HOC NHA TRANG
Tap chi Khoa hoc - Cong nghe Thiiy sdn So 3/2013 Oe xac ainh chinh xac gid tri dau ra cua DN SCF dung luat Max-Min; Sum Min theo mo hinh tnit Tagal<i - Sugeno de giSi m6. Theo do, iufu do giai thu$t chinh cija chi/ang trinh di^u khiin se nhu sau:
I Bat dau
I Boc gid tri nhigt dp tfa I I BQC gia trj toe dp qtiay d6ng eg n |
Mcrh6attaVait
JE
tl<:JDN) = O.Vm So lujt = 0
±
I [Tinh do phu thuoc MAi(tta)| [ I I Tinh dg phu thuoc MBi(n) | | I u(DN) = miiirtZvi(tto,);uBi(n)l | I U(DN) = u(pN).DoSn | luCm(DN) = maxTuiCmODN); U<DK) j
Hmh 3. Lini Sh giii thuat chinh cua chvong trinh dieu khiln
I ijja tr; cua vi tri tay ga dgng ca [Kit thuc I 3. Thiet ke, che tao thiet bj ti^ d$ng dieu khiln tay ga nhien lieu va thip nghigm
Bg phim nhap dii lieu Cam bien nhiet dg khi xa, nhiet dp nuoc lam mat
Cam bien toe dp dOng ca Cam bien vi tri tay ga dgng ca
EC U
Hign thi LCD
Co cau chap hanh dieu khien
tay ga dpng ca
Hinh 4. Str do khoi thilt bi dieu khien Sa do hd thong dilu khien gom 3 khli chinh id
khoi d i u vao, khli xtr ly tmng tdm vd khli dau ra.
Nhigm vy cua khli d i u vdo bao g i m vide thu thgp cdc tin higu do ludng tir cde cam bien, tin higu dieu khiln tir thilt bj giao tilp va gtri tdi tip XIF \'j/ trung tdm. B0 xir ly tmng tdm sau khi nhgn tin higu se tien hdnh phan tieh, chuyen doi, tinh todn vd xult cdc tin hidu dieu khiln che khli d i u ra. Khoi dau ra bao g i m thilt bj hiln thj vd cdc maeh dieu khiln cac ca cau chip hdnh.
Khoi do thdng s l diu vde.
- Cam bien nhiet dp: cd nhiem vy chuyin floi tin hieu d a nhidt dd mdi tnjdng (nhiet dp khi xa vd nhigt dp nude idm mdt) thdnh tin hidu dign dua tdi ECU. Tiiy thupc vde gia tn dien dp nhdn flugc tir cam biln ECU se tinh todn chuyin doi thdnh gid trj nhigt dp cua floi tugng d n do
- Cam biln t i c flp: cd nhigm vu bdo lin higu cho ECU khi dgng ea Idm vigc. Thdng thudng. cde tin higu dugc gui v l dudi dgng xung. ECU se xdc
TRUONG OAI HOC NHA TRANG • 63
Tgp chi Khoa hgc - Cong nghe Thuy sdn So 3/2013
djnh khodng thdi gian giOa cdc lan tin hidu chuyendin tip d m biln vd tinh todn gid trj cua toe flp quay T i e dd quay cua ddng ea dugc tinh todn theo cong thire sau:
_ dtp
" ~~di
Trong dd: n - toe flp quay (rad/s)dtp - gdc do dugc (rad) dt - thdi gian ung vdi gdc flo (s).
- Cam bien tay ga: bdo vj fri tay ga cua dpng co cho ECU d che flp flleu khiln bing tay. Lua ehpn ndy nham tang tinh mIm deo cho bp dieu khiln, eho phep ngudi dieu khiln thay doi tay ga fldng ca khi bd flilu khiln khdng ldm vide d c h i dp flilu khiln tg ddng.
Sp x u /J' trung tam -ECU:
Ld bd nao cua he thong dilu khien tg dpng. Bp xu !i tmng tdm chua dgng chuong frinh dieu khien.
Chuong trinh ndy se quy dinh ve cdch thue thu thdp d e tin higu dau vdo, xiF li, tinh todn vd chuyin doi
thanh tin hidu dilu khiln dau ra cho cdc co c^
chap hdnh nham thda man cde yeu d u dgt ra cia he thdng dieu khien
Trdn ea sd cdc gid bi eua nhidt fld vd tic tfj fldng ca, bp flilu khiln tmng tdm se thgc hidn mOt loat cdc tinh todn t>ao g i m : md hda, gidi md. tfnh toan trpng so, so sdnh vdi ede gia tii cdi ddt tir chuang trinh... fle quylt djnh vj tri flIu ra ciia ca cau chip hanh dieu khien tay ga flpng ea.
Khdi dau ra:
- Hiln thj LCD: cho phep hien thj d c gia trj tire thdi cua cde thong s l khi fldng ca Idm vide nhu: chi dp idm vige, vj tri % tay ga, t i c dp quay n, nhidt dO khi xa t^. nhigt dp nude Idm mdt t^^^.
- Ca cau chip hdnh' bao gom mgch dilu khtin vd dpng ca servo. Mgeh dilu khiln nhdn tin hi$u dilu khien tu- ECU. chuyen flii tin hidu ndy thdnh cdng suit flilu khiln eho dOng ca td dd thay All \i\
fri tay ga nhidn ligu ciia dpng ca.
BO dieu khiln sau khi ehi tgo:
khien sau k h i che t£
Sau khi che tgo cac board mgch, ngp chuang trinh cho vi dilu khiln, lap rdp hodn chinh bd flilu khiln. Chung tdi tien hdnh ldp fldt eac cdm bien, kit nil CO d u chip hdnh vdi tay ga ddng ca Yanmar-4CH, dau noi hpp dilu khien vd tiln hdnh khdo nghidm flijng ca.
Khae sat chtrc ndng dieu khiln tay ga dpng ea tg dpng cua bd dieu khiln bdng edeh thay doi phy tdi diu vdo d p cho fldng ca Yanmar-4CH. Qud
64 . TRUONG DAI HOC NHA TRANG
trinh thir nghidm dugc frigc hidn theo trinh tg nhu sau: thay doi lugng nude d p vdo phanh tang dSn, theo ddi tinh trgng lam vige cua fldng co, quan stA vd ghi lgi cdc s l lieu, tilp tuc thgc hign tuang tv- tdng lugng nude d p cho flIn khi dpng eg xuat hi^n hidn tugng qud tdi thi giam d i n lugng nude c^p;
kilm tra so lidu va hidu ehinh gidi thudt. Sau nhiiu lan thtr nghigm vd hidu ehinh, kit qud khdo nghidm hodn ehinh flo dugc frong bdng dudi.
'P chi Khoa hoc - Cong nghe Thuy sdn So 3/2013 Bang 2 K i t qua Ithao nghidm bp dieu khien tay ga tren dong c c Yanmar 4CH Gia Iri t^i dau vio
ii^e (ft-lb)
5,86 14,65 21,70 26,41 43,58 41,75 39,00 36,12 30,04 25,21
i,-^(m 4,42 11,05 16,48 19,89 31,95 27,96 29 27,23 22,02 19,4
Gil tri PWM dieu t<hien Servo 775 780 781 795 751 711 808 806 805 790
dieu ichiln Tay ga dong CO
(%)
43,21 43,95 44,09 46,14 39,70 33,84 48,05 47,75 47,61 45,41
Thong so n (v/ph)
1440 1440 1450 1438 1400 1279 1420 1440 1400 1470
ailu khiln CO 160 182 200 250 345 338 320 310 270 230 Thdo lugn
B$ dieu khiln da dap ipng dugc yeu cau d|t ra an flIu, qud trinh thir nghigm thgc te cho thay:
Dgng ca lam vide I n fljnh theo diing vj fri cua im biln tay ga nhien ligu trong ehe dp ldm vide eu khiln bdng tay (Manual).
Qua trinh chuyen doi tir c h i dd ldm vigc flleu lien bdng tay sang c h i flp tu flpng cho thay sg ap irng tot ctia bg dieu khiln. Sg thay doi tay ga hien ligu Id phii hgp khdng gdy ra gia t i c Idn; flpng J tdng ga deu. nhg khdng ru ga vd Idm vigc r i t I n jnh trang miln tham so da chpn.
Khi thay doi tdi (thay doi muc nude d p vdo hanh thiiy Igc Dynomite), bd flilu khiln phan irng lay dli vj tri tay ga dam bdo gitr gid tn toe do vdng uay n vd nhidt dp khi xa t^ d viing gid tn mong muln.
nrdng hgp non tai, nhiet dp khi xd nhd cd gia tn nhd an bode nim trang viing ldm vigc mong muon, bd ilu khien ddm bdo flpng co lam vigc trong vung t i e d da chpn; Tnrdng hgp qud tai (nhiet dp khi xa ldn an viing fld chpn) tay ga ddng ca ldp tire dieu chinh ldm lugng nhien ligu flam bdo ddng ca Idm vide vdi hidt flp khi thdi nam trong vting dd chpn.
Thir nghigm d t tai dpt ngOt cho thay tay ga idm nhien lidu tire thi khdng xuat hign tieng ru ' dpng ca nhu trong tnrdng hgp ldm vigc thdng
thudng khi khdng cd su can thigp eua bd tg flpng dilu khiln tay ga tg fldng.
IV. K^T LUAN VA K I E N NGHj
Ket qua thtr nghigm thuc t l tren ddng ea Yanmar - 4CH cho thiy su ldm vigc diing flan eiia gidi thudt flieu khiln. Qud frinh ldm vigc ciia bi> flilu khiln cho thiy khd nang ung dung kT thugt flieu khien md trang dilu khiln flpng ca. Bp dilu khien str dyng cdc thong so flieu khiln dan gian, cd gid thanh khdng qua cao phin ndo dap ung duge yeu d u v l van hdnh an tedn cho cdc dpng co diesel ed nhd.
Tuy nhien, d l cd thi flua bd flieu khiln vdo irng dyng tong fligc te, tdi xin d l xult mpt so y kiln nhu sau:
Bd dilu khiln d n dugc lap flgt thd nghiem cho dgng co diesel chinh trdn cac tdu thOy ca nhd.
C i n tich hap thdm cdm biln dp luc dau bdi tran fle them chirc ndng d n h bdo khi nhirng thdng s l ndy khdng dam bdo an todn.
Khi flua vdo sir dung thuc te trdn nhu'ng dpng ea tdu thiiy cd nhd, d n tim hieu rd trang thai ky thugt, dge fliem ddng ea vd chgy thgc nghigm de edi dat gid tn mien ldm vide mong muln mdt cdch chinh xdc.
Can nghien ciru xdy dung moi quan hd giCra nhidt dp khi thdi vd suit tidu hap nhien lieu c6 Ich.
Tren ea sd do xdy dgng vung lam vi#e phdt huy duge hidu qua vd tinh kinh te ctia fldng ca.
AI L i f u THAM KHAO
Nguyin Thj Phirong Ha, 2005. Ly thuySt dieu khiSn hien dai. Dai hpe Quoc gia, Thanh pho Ho Chi Minh.
Phan Xuan Minh, Nguyen Doan Phuoc, 2004. Ly thuydt dieu khidn mo. NXB Khoa hpe ky thuft. Ha Npi, '. Luong Cong Nh6, D|ng VIn Tuan. 2004 Khai fhac U d6ng lire tau thuy. D^i hpe Hang hai, ThSnh pho H6 Chi Minh.
lu la P H 6 M I N , Tran Hihi Nghi, 1990 Xac djnh cong suat Diesel tau thiiy va dac tinh cua no. NXB Giao thong vin tai, Thanh ph6 HO Chi Minh
Tieng Anh
http://www.intelligent-systems mfo/classes/ee509/U pdf http:/Avww.scribd.coni/doc/22059507/Fuzzy-control
TRUONG OAI HOC NHA TRANG • 65