Tp ch Khoa hc & Cng ngh - S 1(45) Tp 1/Nm 2008

M HNH IU KHIN D BO V NG DNG IU KHIN THCH NGHI HNG TU THU

Phm Hu c Dc (Trng H Kinh t - K thut Cng nghip- H Ni)

1. M u Trong nhng nm gn y, hng nghin cu ng dng m hnh iu khin d bo (MPC) c nhiu nh khoa hc quan tm. MPC l mt trong cc phng php iu khin hin i c cc u im ni tri: trc quan, d thc hin, khng i hi ngi thc hin phi c kin thc su, rng v l thuyt iu khin, c th thc hin cho nhiu loi i tng iu khin nh SISO, MISO, MIMO v iu khin i tng c tr khi bit trc tn hiu u ra mong mun; ng thi y l mt hng nghin cu mi, c tnh m cao i vi nc ta hin nay. Bi bo ny trnh by mt s nt c bn v MPC, sau ng dng n trong iu khin thch nghi hng chuyn ng ca tu thu trong iu kin c nhiu l lc tc ng ca sng, gi ca mi trng bn ngoi. 2. Gii thiu MPC 2.1. Mt s vn c bn Cu trc c bn ca MPC c m t hnh 1, trong x1 v x2 tng ng l cc d liu vo trong qu kh v d bo; y l tn hiu iu khin d bo u ra; d l tn hiu u ra mong mun; e l sai lch: e = d - y. x1 x2 Ti u ho M hnh iu khin y e d

Phim hm mc tiu iu kin rng buc N lc ca MPC l da vo cc b d liu vo-ra qu kh v d bo trong tng lai, Hnh 1. Cu trc c bn ca MPC cn c vo gi tr ca phim hm mc tiu tho mn b iu kin rng buc ca bi ton iu khin, tin hnh thc hin bi ton ti u, t tnh ton tn hiu iu khin d bo u ra sao cho sai lch iu khin t cc tiu, tc l khi tn hiu ra d bo c th bm theo c tn hiu u ra mong mun. Tn hiu iu khin d bo u ra y(t+kt) (k=1, 2, ..., N), nm trong vng gii hn d bo N xc nh, c tnh ton ti mi thi im t, ph thuc vo b cc tn hiu x1, x2 ti thi im t v cc tn hiu iu khin tng lai u(t+kt) (k = 0, 1, ..., N-1). T b lut iu khin xc nh c tn hiu iu khin. B lut iu khin ny cn tho mn phim hm mc tiu c dng tng qut sau y:
J ( N1 , N 2 , N u ) = 1 ( j)[ y( t + j t ) d ( t + j)]2 + 2 ( j)[u ( t + j 1)]2
j = N1 j =1 N2 ^ Nu

(1)

trong : u (.) l gia s tn hiu iu khin; N1, N2 tng ng l gii hn trn, di ca min d bo; Nu l gii hn vng iu khin; 1 ( j), 2 ( j) l cc h s dng hng s hoc dng hm m. i tng iu khin thng thng phi tho mn cc iu kin rng buc nhm xc nh phm vi hot ng, iu kin mi trng, iu kin an ton... Khi c s tham gia ca cc iu kin rng buc vo phim hm mc tiu s lm cho lut iu khin phc tp hn khi khng c iu khin rng buc. 101

Tp ch Khoa hc & Cng ngh - S 1(45) Tp 1/Nm 2008

Xy dng cc lut iu khin nhm xc nh b gi tr tn hiu iu khn u ( t + k t ) cn thc hin ti thiu ho phim hm mc tiu J. T m hnh MPC xc nh tn hiu ra d bo tnh ton y( t + k t ) , thay vo biu thc (1) tm c gi tr tn hiu iu khin cn tm u ( t + k t ) , sao cho sau khong thi gian xc nh Nu<N2 s khng c s bin i ca tn hiu iu khin, hay:
u ( t + j 1) = 0 vi
^

Nu<j<N2

(2)

MPC c cc dng thut ton sau: - iu khin ma trn ng hc (Dynamic Matric Control - DMC); - iu khin thut ton m hnh (Model Algorithmic Control - MAC); - iu khin d bo chung (Generalized Predictive Control-GPC); - iu khin hm d bo (Predictive Functional Control - PFC); - iu khin thch ngh t d bo m rng (Extended Prediction Selt Adaptive Control EPSAC); - iu khin th nghim m hnh d bo(Model Predictive Heuristic Control-MPHC). 2.2. Xy dng h MPC S khi ca h MPC biu din hnh 2. Ti mi mt thi im ly mu, cn c vo thng tin d bo u ra, thc hin gii bi ton ti u tm b tn hiu iu khin ti u sao cho tn hiu ra ca i tng iu khin bm theo c tn hiu u ra mong mun. Kt qu ca bi ton ti u l xc nh c b tn hiu iu khin ng vi s tn hiu mu d bo trong tng lai, nhng ch c gi tr tn hiu iu khin u tin l c s dng thc hin iu khin i tng. Ti chu k ly mu tip theo, qu trnh tnh ton c lp li bng cch cp nht b s liu bc sau . Qu trnh xc nh lut iu khin c minh ho bi lu tnh ton sau y. ud B iu khin MPC u i tng iu khin y

Hnh 2. S khi ca MPC

Lu tnh ton xc nh lut iu khin theo MPC Bc 1: Xc nh cc thng s u vo i tng iu khin v gii hn vng d bo; Bc 2: Cho trc b gi tr ban u; Bc 3: Xy dng v tnh ton cho m hnh iu khin d bo dng tng qut; Bc 4: Ti thiu ho hm mc tiu J; Bc 5: Xc nh ma trn gia s tn hiu iu khin u ; Bc 6: Chn thnh phn u tin u (k k ) ca ma trn gia s tn hiu iu khin u ; Bc 7: Tm lut iu khin qu trnh tip theo l tng ca u (k k ) v u (k k ) . 3. M hnh ng hc ca tu thy M hnh ng hc ca tu thu c m t hnh 3 [1]. p dng nh lut Niutn, phng trnh ng hc ca tu thu c dng: 102

Tp ch Khoa hc & Cng ngh - S 1(45) Tp 1/Nm 2008

... 1 1 (t ) + + 1 2

.. 1 . K . 3 ( t ) + ( t ) ( t ) + ( t ) = 12 1 2

(3)

trong : ( t ) l hng chuyn ng ca tu thy; ( t ) l gc quay ca bnh li; K, 1, 2 , 3 l cc thng s ca tu thu c tnh ton theo cc biu thc sau:
u l K = K 0 ; i = i 0 ; (vi i = 1, 2, 3) l u

X0 u r xs ys O v y -

vi u l tc ca tu thy gi thit l hng s; l l chiu di ca tu thy. Gi thit rng m hnh c s kin ban u bng khng, thc hin vit li (3) c m hnh hng chuyn ng dng [2]:
K (s 3 + 1) (s) = (s) s(s1 + 1)(s 2 + 1)
. ..

Y0

(4)

Hnh 3. M hnh ng hc tu thy

vi iu kin u: (0) = (0) = (0) = 0. 4. ng dng MPC iu khin thch nghi hng chuyn ng ca tu thy Khi tu thu chuyn ng thng thng s b nh hng ca cc i lng nhiu l lc ca sng, gi bn ngoi tc ng, iu ny nh hng xu n hng chuyn ng ca tu. Vn t ra l cn thit k mt thit b li t ng nhm iu khin thch nghi hng chuyn ng ca tu thu, sao cho d c nhiu bn ngoi tc ng th hng chuyn ng ca tu thu vn bm theo c hng chuyn ng mong mun cho trc. Sau y bi bo ny tp trung trnh by mt gii php ng dng MPC khi n ng vai tr l thit b li t ng trong iu khin thch nghi hng chuyn ng ca tu thu theo m hnh mu khi c nhiu bn ngoi tc ng. 4.1. S iu khin S iu khin thch nghi hng ca tu thy vi gii php ng dng MPC iu khin theo m hnh mu thc hin trn Matlab/Simulink c biu din ti hnh 3, trong m hnh chuyn ng ca tu thu c s dng v bin i t biu thc (4). Trn hnh 3, thit b li t ng ng dng MPC c nhim v to ra tn hiu iu khin l gc quay ca bnh li nhm thc hin iu khin hng chuyn ng ca tu thy sao cho bm theo c hng chuyn ng mong mun l m trong iu kin c nhiu s l lc tc ng ca sng, gi bn ngoi tc ng. Khi MPC c b tn hiu vo gm: hng mu mong mun m v tn hiu hng sau iu khin t u ra a ngc tr v u vo; u ra c mt tn hiu, l gc quay ca bnh li . Khi MPC c nhim v to ra tn hiu iu khin thch nghi l gc quay ca bnh li bng cch cc tiu ho phim hm mc tiu J(.) sau y: 103

Tp ch Khoa hc & Cng ngh - S 1(45) Tp 1/Nm 2008

J ( N1 , N 2 , N ) = 1 ( j)[ ( t + j t ) m ( t + j)]2 + 2 ( j)[( t + j 1)]2 (5)

j = N1 j =1

N2

trong :
(.) l gia s ca tn hiu iu khin; N1, N2 tng ng l gii hn trn, di ca min d bo; N l gii hn vng iu khin; 1 ( j), 2 ( j) l cc h s dng hng s.

4.2. Kt qu m phng Thc hin m phng vi cc thng s: K 0 = 3.86 , 10 = 5.66 , 20 = 0.38, 30 = 0.89 , l=161(m); gi thit tu thy chuyn ng dc trc Ox vi tc u = 5 (m/s), = 1 ; = 1 . Thc hin cc php bin i cho m hnh ng hc tu thu (4), c ba khi tng ng vi m hnh ng hc tu thu hnh 4 di y. Tu thy lm vic vi iu kin c nhiu s tc ng t bn ngoi (biu din th hnh 5.1) v hng chuyn ng cn bm theo c hng chuyn ng mong mun m (biu din th hnh 5.2).
mo

u(t)
ref MPC

m(t)
Step1

r(t)
md

(t)

mv

-1 57.0267s+0.3129 Transfer Fcn

(s+0.0349) s Zero-Pole

1 12.286s+1 Transfer Fcn1

y(t)

(t)
s(t)

y To Workspace

MPC Controller Input1 u

Repeating Sequence Stair

To Workspace1 Outputs/References

Hnh 4. S iu khin thch nghi hng chuyn ng tu thy theo m hnh mu ng dng MPC thc hin trn Matlab/Simulink
1 0.5 0.8 0.6 0.4 0.4 0.2 0 0.2 -0.2 -0.4 -0.6 0 -0.8 -1 -0.1 0 200 400 600 800 1000 1200 1400 1600 1800 2000 0 200 400 600 800 1000 1200 1400 1600 1800 2000

0.3

0.1

Hnh 5.1. th nhiu s(t)

Hnh 5.2. th hng mong mun m(t)

Thc hin chng trnh m phng cc ch c s bc iu khin d bo khc nhau l 12 bc v 20 bc. Kt qu m phng vi iu khin d bo 12 bc v pha trc c m t bng cc th trn cc hnh t 6.1 n 6.3; kt qu m phng vi iu khin d bo 20 bc v pha trc c m t bng cc th trn cc hnh t 7.1 n 7.3 tng ng l cc th ca: gc quay bnh li (t), hng mong mun m(t)(nt t) cng vi hng sau iu khin (t) (nt lin), th khng gian 3 chiu m t quan h ca ba tn hiu (m(t),(t),(t)). Kt qu m phng vi iu khin d bo 12 bc v pha trc nh sau: 104

Tp ch Khoa hc & Cng ngh - S 1(45) Tp 1/Nm 2008

5 4 3 2

1.5

0.5 1 0 -1 -2 -3 -1 -4 -5 -1.5 -0.5 0

m(t)

Goc quay banh lai (), don vi=do

(t)

2 -5 -1 -0.5 0 0.5 -1 1 -2 Huong tau thuy ( ), don vi=do 1 0

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Huong tau thuy mong muon( r), don vi=do

Hnh 6.1. th gc quay bnh li (t)

Hnh 6.2. Hng mong mun m(t)(nt t) v hng sau iu khin (t) (nt lin)

Hnh 6.3. th khng gian 3 chiu m t quan h ca ba tn hiu (m(t),(t),(t))

Kt qu m phng vi iu khin d bo 20 bc v pha trc nh sau:

6
1.5

0.5

(t) m(t)
0 200 400 600 800 1000 1200 1400 1600 1800 2000

Goc quay banh lai (), don vi=do

6 4 2 0 -2 -4 -6 2 1 0 0.5 -1 0 -0.5 -2 -1 Huong tau thuy mong muon( r), don vi=do 1

-2

-0.5

-4

-1

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Huong tau thuy ( ), don vi=do

Hnh 7.1. th gc quay bnh li (t)

Hnh 7.2. Hng mong mun m(t)(nt t) v hng sau iu khin (t) (nt lin)

Hnh 7.3. th khng gian 3 chiu m t quan h ca ba tn hiu (m(t),(t),(t))

Kt qu m phng trn cho thy gii php s dng MPC l thit b li t ng cho tu thu l ng n v hng chuyn ng ca ti thu (t) bm theo c hng chuyn ng mong mun m(t) trong iu kin c nhiu s(t) kh mnh tc ng, ng thi d nhn thy rng thc hin m phng vi iu khin d bo 20 bc v pha trc c sai lch iu khin nh hn so vi khi thc hin m phng vi iu khin d bo 12 bc v pha trc. 5. Kt lun ng dng MPC iu khin thch nghi hng chuyn ng ca tu thu l mt gii php ng n v nhn c kt qu m phng mong mun, tn hiu iu khin tht s thch nghi vi s thay i ca hng chuyn ng mong mun v ca nhiu. Kt qu m phng cng cho thy rng nu s bc iu khin d bo ln th s nhn c sai lch iu khin nh, nhng cng cn ch rng nu s bc iu khin d bo cng ln th thi gian tnh ton s cng di, khng bo m tnh tc ng nhanh ca h thng Tm tt MPC l mt trong nhng phng php iu khin hin i hin ang c cc nh khoa hc trn th gii quan tm. y l mt hng nghin cu m trong lnh vc iu khin i vi cc nh khoa hc Vit Nam. Bi bo ny xut gii php ng dng MPC vi vai tr l thit b li t ng trong iu khin thch nghi hng chuyn ng ca tu thu khi c nhiu bn ngoi tc ng, vi mc ch nhm ci thin mc thng minh ca b iu chnh. Kt qu m phng cho thy tnh u vit v kh thi ca gii php ny. 105

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Summary Model predictive control and apply to adaptive control ship heading Model Predictive Control (MPC) is one of modern control methods, most scientists in the world are interesting. This control method is opening with Vietnam scientists. This article proposes a method apply MPC-autopilot for adaptive control ship heading when outside noise impacts on ship, with the aim improves level of intelligent of controller. The imitating results display the its advantages and feasibility. Ti liu tham kho
[1].strm K.J.,Wittenmark B.: Adaptive Control, Reading, MA: Addison Wesley, 1989. [2].Kevin M. Passino and Stephen Yurkovich, Fuzzy Control, Addison Wesley, 333-339,1997 [3].Clarke D.W., Morhtadi C, Tiffs P.S., Generalized Predictive Control-Part 1. The Basic Algorithm, Automatica, Vol. 23, No. 2, 137-148, (1997). [4].Eduardo F. Camacho, Carlos Bordon, Model Predictive Control, Springer Verlag London Limited. (1999).

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