Cdng trinh Khoa hpc
THIET KE BQ BIEU KHIEN PF-D CHO DIEU KfflEN TOC BQ CUA XE 6 TO
NGUYEN VAN TIEM Khoa Dien - Difn tu Trudng Dgi hgc Giao thdng Van tm
Tdm tdt: Ngdy nay xe d td dugc quan tdm nhiiu vi lugng khi ihdi dpc hgt ra mdi trudng vd nhien lieu lieu thu cua nd. Di hgn che dugc lugng khi thai ddc hgi ra mdi trtrdng vd tiit kiim nhien lieu thi phdi dieu khiin toe dg xe phii hgp. vi^c diiu khien tdc dp ciia xe dugc thux:
hien bdng cdch dieu khien vi Iri cua budm ga. Md hinh dieu khiin ldc dp cua xe d Id la phi tuyen, vi vay bdi bdo ndy dd dua ra cdch thiet ki bp diiu khiin PF-D (Proporlional-Fuzzy- Derivative) v&i quan diem sir dung logic ma de tinh lodn tham sd P mot cdch tryc tuyin. Thdnh phdn D se dugc giir theo quan diem kinh dien. Bd PF-D se ldn dung dugc linh tdc ddng nhanh cua bp D vd khd ndng cdi dgt tri thuc chimin gia nhd logic md vdo bd P. Hiiu qud ciia bp PF- D si dugc ddnh gid thdng qua md phdng he thong dieu khiin tdc dp cua xe d td.
Summary: Today cars have gained more attention due to their harmful emissions into the environment and theffiel consumption. To limit the emissions and save thefirel, car speed must be properly controlled by controlling the position of the throttle The car speed control model is nonlinear, hence, the paper presents a PF-D (Proportional-Fuzzy-Derivative) controller using fuzzy logic to calculate parameters P online. Component D will remain classical PF-D controller makes the most of classical methods and fuzzy logic PF-D controller will also take advantage of fast-acting properties of the PD and the ability lo install expertise thanks lo fuzzy logic. The effecHveness of the PF-D controller will be evaluated by simulating the car speed control system.
I. D ^ T V A N D E
S u phat ttiln m a n h m e ciia n g a n h c d n g nghiep d td g d p p h a n l a m suy giam chdl l u g n g khdng k h i , trai ddt bi n d n g ldn v a suy giam tai nguyen. N g d y n a y quy dinh ve khi thai v a lieu thu nhien lieu ngdy c a n g chat che h a n n h d m m u c dich phdt ttien giao Ihdng v a n tai an lodn, sach s6 va Meu qua c a o . D i l u k h i l n t d c dd c u a x e d td d u g c tiigc Men b a n g each dieu khien vi tti b u d m g a p h u h g p , t r u d c d a y d l d i l u k h i l n tdc d o cua xe d td thdng t h u d n g la n g u d i Idi x e dieu cMnh b a n d a p g a thdng qua d d d i l u khien b u d m ga d e tang hoac giam ldc dg cua xe. T u y nhien vdi each d i l u khien thii c d n g n h u vdy se ddn ldi tieu tdn nhieu nhien lieu. Bdng viec t u d d n g hda d i l u k h i l n tdc d o c u a xe d td t h d n g qua dieu k h i l n vi tii b u d m ga se giup c h o viec tiet kiem nMen lieu ciing n h u kiem soal ldc dd x e d u g c tdt b a n . Miic d o t u d g n g hda ciing n h u cac thual
Tap cW KHOA HQC GIAO THONG VAN TAI S6 dac biet - 11/2015 257
loan dieu khien se quyet dinh Meu qua cua viec tilt kiem nMen lieu vd kilm sodt tdc do. Mgt sd de xuat ky thuat dilu kMen khdc nhau dp dung cho dilu khiln tdc do cua xe d td da dugc dua ra trong [3] va [5] su dung phuang phap tmh loan tham so PID dl tdi uu hda tdc do cua xe. Cac phuang phdp hieu chinh tham sd PID nhu Ziegler-Nichols, phuang phdp gdn cac diem cue, phuang phap tdi uu cM su dgng hieu qua cho Idp ddi Mgng dilu khiln Myln tinh. KM ddi Mgng phi Myen vd cd bdl dinh tham sd tM bd PID su dgng tiong he thdng dilu khiln ndy se cd nhiing han che nhat dinh. Trong [3], [4], [5] cimg da sir dung Iy thuyet dieu khiln lien lien nhu logic md, m^ing na ron nhan lao [1] dl tMet kl bg dilu kMin vi tri budm ga nhdm dieu khien ldc do cua xe d Id, cac bd dieu kMen ciia cac cdng trinh dd dugc tMet ke vd danh gia hieu qua thdng qua md hinh Myln linh ciia xe, nhung thgc chat md hinh dgng hgc ciia xe la phi Myen.
Bdi bao nay dua ra tMet ke bg dieu khien tdc dg ciia xe d td dga tren nguyen 1^ PF-D, bg PF-D cd dac diem la Mat ly le dugc kit hgp vdi logic md. Ludl vi phdn dimg theo kinh dien. Vdi quan diem thiet ke nhu vdy thi bd PF-D se dan gidn ma vdn dap iing dugc tinh tdc dgng nhanh va phii hgp vdi md hinh phi Myen ciia xe. Hieu qua ciia bd dieu khien PF-D sS dugc danh gia thdng qua md phdng tien may tinh.
n . M O H i N H DIEU K H I E N T O C D Q CUA XE 6 T O 2.1. Mo hinh cua xe 6 to
So do dilu kWin budm ga dien tu nhu hinh 1. Trong dd ddng ca servo mgl chilu dugc dilu khien bang cac bd dieu khien khac nhau de dieu khien gdc md ciia budm ga.
Liru lugng khi l g M i l 1 •
Goc budm ga
Servo budm ga
Apluc
-4-
^
Tin hieu dieu khien budm ga T^c
ddng CO Hinh 1. Sa dd khdi dieu khien bu&m ga Ddng hgc ciia xe [3], [4], [5]:
-Fe(e) + Fel(»)
(1)
(2)
258 TapchiKHOAHOC GIAO THONG VAN TAI So dac biet - 11 /2015
F,,(e)=K+rVe
(3) Trong dd: Fe Id Igc ddng ca, cd chiic nang dieu kMen vi tri cua budm ga; Eg la luc hap din ttgng trudng. Id ham phu thudc vao loai dudng di chuyen; 6 la vi tri budm ga, v la tdc do ciia xe; t la thdi gian.Tham sd cua xe: theo [3], [4], [5] luc hap ddn ciia xe bdng 30% ttgng lugng ciia xe; Hdng sd thdi gian cua ddng ca thudng nim ttong khoang tu 0,1 din 1, d day ta ldy T^ = 0,2s; Khdi lugng cua xe m = 1000 kg; He sd khi dgng hgc a = 4N/(ni/s)^; He sd luc ciia ddng ca Y ^ 12500 N ; Luc khdng tdi cua ddng ca F, = 6400 N.
Tu cac tham sd cua xe, ta xay dung dugc md hinh xe la pM tuyln nhu hmh 2.
(4) alpha
Hinh 2. Md hinh dpng hpc phi tuyen ciiaxe d td
Trong thill ke cac bd dilu khiln tdc do cho xe [3], [4], [5] sii dung md hinh Myen tinh (4).
Bai bao nay se sir dgng md hinh pM Myen ciia xe (1), (2) va (3):
V ( s ) ^ 829000 0 ( s ) " s 2 + 5 s 2.2. Md hinh he thong dieu khien toe do cua xe
Md hinh he thdng dilu khiln tdc do cua vsp xe nhu hinh 3, ttong dd bg dieu khien se tinh loan gid tri dieu kMen vi tri budm ga de xe nhanh dat dugc tdc do dat dieu kMen mong mudn.
i n . THIET KE BO DIEU KHIEN PF-D VA PID 3.1. Tinh toan tham so bg PID
Bd dilu khiln PID: u(i) = kpe(l)H-k, je{T)dT + kDe(t),
0
ttong do: kp, ki vd ko Id cdc tham sd cua bd PID.
D I tinh toan tham sd PID, ta su dung phuang phdp thgc ngMem cua Zigler-Nichols [2].
M
Hinh 3. He thdng diiu khiin tdc do x
(5)
Tap cW KHO A HOC GIAO THONG VAN TAI So dac biet - 1 1 / 2 0 1 5
259
1 teta
lEta V
1 1
V k = h(oo)
Hinh 4. Dap img tdc do cua mo hinh xe 6 to.
Tu hinh 4 ta nhan dang duoc thai gian tre L = 0,5s, thai gian quan tinh T = 3,4 s; It = 6 3 . Theo phuang phap Zigner-Nichols ichi sii dung bp di^u Idiien PID, ta Co:
k = i 2 T ^ l ; 2 ^ 2 l i = 0,1295; T, =2L = 2»0,5 = 1; T„ = i = ^ = 0 , 2 5 . P kL 63*0,5 • • 1 ' ° 2 2 T u d o t a c o k| =kp /T, =0,1295; kj, =kpT[, =0,0324.
Bg PID theo Z-N la:
kp = 0,1295; k, = 0,1295; kn = 0,0324.
3.2. Thilt kS bo tinh toan PF-D
Cau true bp PF-D trong bai bao nay dua ra gdm hai thanh phin nhu (7):
> ' W = 1 ' P F W + ' ' D ( I ) .
trong do thanh phan thu hai sudung luatD kinh dien: Un(t) = 0,03e(t),
thanh phan thii nhat la bp PF: Up=P.e(t), Uong do P duac tinh toan bang logic ma.
Cau tnic bp tinh toan P mcr nhu hinh 5 bao gom 2 dan vap la sai sp tpc dp E va toe dp thay d6i ciia sai s6 DE, mpt dau ra la P. Ma h6a dau vao E va DE lan luat nhu hinh 6 va hinh 7. Ma hoa diu ra P nhu hinh 8. XSy dung bang luat m6 cha bp tinh tham so P nhu bang 1.
(6)
(7) (8) (9)
Hinh 5. Bd Hnh lodn P md
.«J .S* J 2
Hinh 6. Md hda ddu vao E 260 Tap chi KHO A HOC GIAO THONG V ^ TAI So dac bi«t -11/2015
Hinh 7. Md hda ddu vdo DE
E \ NB NM NS Z PS PM PB
NB P6 P6 P5 P5 P4 P4 P3
Bdng 1. Bdng luat cho bo ma tinh P NM
P6 P6 P5 P5 P4 P3 P3
NS P5 P5 P5 P4 P3 P2 PI
Z P5 P4 P4 P3 P2 PI PI
PS P4 P4 P3 P2 P2 PI PI
PM P3 P3 P2 PI PI PI PO
PB P3 P2 P2 PI PI PO PO Hinh 8. Md hda ddu ra P
IV. MO PHONG HE THONG DIEU KHIEN TOC DO XE S\}' DUNG BQ PF-D 4.1. Chuong trinh md phong he thing dieu toe do xe
Hinh 9. Chuang trinh md phdng he thdng dieu khien tdc dp xe
Chuang tiinh md phdng he thdng dieu khien ldc do xe nhu hinh 9. Trong dd gdm hai he thdng dilu khien tirong iing vdi hai bd dieu khien PF-D va PID.
4.2. Cac ket qua mo phdng va danh gia
Khi khdi lugng cua xe khdng ddi m = 1000 kg, dap iing tdc dd cua xe Mong iing vdi cac bg dilu khiln PID, PF-D nhu hinh 10.
VpF-D, ITl/s
I
' vpiD, m/svsp= 50 m/s
VpF-D.m/s •'•
Hinh 10. Ddp ung Vpm, vpp.o (m = 1000 kg) Hinh 11. Ddp img vp/o, vpf.jj (m = 1500 k, Tap cM KHOA HOC GIAO THONG VAN TAI So dac biet - 11/2015 261
Khi khdi lugng cua xe thay ddi m = 1500 kg, dap iing tdc do cua xe Mang ling vdi cdc bd dilu kMin PID, PF-D nhu hinh 11.
Ddnh gia chit lugng dieu kMen ciia bd PID va bd PF-D kM khdi lugng cua xe m ^ 1000 kg, tii dap ling ldc do cua xe (hinh 10) ta thdy:
+ Vdi bd PF-D, do qud dilu chinh a= 1,9/50*100% = 3,8%; tquid^ = I'^s; e ( a ) ) K 0 . + Vdi bd PID, do qua dilu chinh CT= 18/50*100% = 36%; t^^t^ = 6s; e(Qo) = 0 . Ddnh gid chat lugng dilu kMin cua bd PID va bd PF-D kM khdi lugng cua xe m = 1500 kg, tii dap ling tdc do cua xe (hinh 11) ta thdy:
+ Vdi bd PF-D, do qua dilu chmh a = 0,25/50*100% = 0,5%; Iquad^ = 1,5s; e ( o o ) » 0 . + Vdi bg PID, do qua dilu chinh o = 21/50*100% = 42%; t^^^ = 12s; e(Qo)« 0.
Nhu vdy bg PF-D ma bai bdo dua ra da ndng cao dugc chdt lugng dieu khiai ldc do cua xe d td.
V. KET LUAN
Bdi bdo dd tMet ke dugc bg dieu khien PF-D. Dac diem cua bd dieu kMen PF-D Id tinh dan gian do cM sii dung mdt bd md tinh tham sd P, cdn thdnh phdn D dugc dp dgng theo nguyen ly kinh dien. Nhu vdy bg PF-D vua don gidn lai mang ban chat tac ddng nhanh vdn cd theo ludl PD kinh dien. Mat khac lai la bg dieu khien mang linh phi Myen sii dgng tinh loan logic md.
Day la quan diem tMdt ke bd dieu khiln mgt each sang lao, bg dieu khien khdng can qua phiic tap md lai dem lai Meu qua trong viec dieu khien ddi Mgng cd tinh phi Myen. Kit qud md phdng khang dinh kM khdi lugng cua xe chua thay ddi hoac thay ddi iM chat lugng bg PF-D cho chat lugng dilu khien tdc do cua xe tdt ban so vdi bg PID kinh dien. Bg PF-D dan gian md I?ii ndng cao dugc chdt lugng dieu khien tdc do cua xe d td.
Ngay nfaln bai l^n diu: 22/09/2015 Ngiy nh^n bii sira: 05/10/2015 Ngiy chip nh^ bai dang: 01/10/2015 Tai lieu tham khao
[I]. Le Himg Lan, Nguyen Van Tiem (2013), He thdng dieu khien nhieu chilu va phi tuyen, Nxb Giao thong van tdi.
[2]. Nguyin Doan Phudc (2009), Ly timylt dilu khiln tuyln linh, Nxb KHKT.
[3]. Japjeet Kaur, Preraa Gaur, Piyush Saxena and Vikas Kumar (2014), "Speed Control of Hybrid ElecUic Vehicle Using Artificial InlelUgence Techniques", Int. J. Net. Tech. Sys. 2, No. 1, pp. 33-39.
[4] Avtar Smgh, Er. Amrit Kaur (2014), "Speed Control of Hybrid Elecmc Vehicle Using Optimization Algorithm", Mteraational Journal of Advanced Research m Computer and Communication Engineering, Vol. 3, Issue 6, pp. 6856-6860.
[5]. Anil Kumar Yadav, Prema Gaur, Shyama Kant Jha, J. R. P. Gupta, and A. P. Mittal (2011), "Optimal Speed ConUol of Hybrid Elecgic Vehicles", Joumal of Power Electroiics, Vol. 11, No. 4, pp. 393-400*
Phan bien: Nguyen Hoang Van, Trrnh Linrng Mi6n
2 6 2 Tap cM K H O A H O C GIAO T H O N G \ AN TAI So d a c biet - 11/2015