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MT PHNG PHP XY DNG M HNH I TNG PHI TUYN
TRONG H IU KHIN D BO
Li Khc Li (Trng H K thut cng nghip H Thi Nguyn)
1. M u
L thuyt iu khin d bo ra i vo nhng nm 1960, song cho n nhng nm 1980
phng php iu khin ny mi bt u pht trin mnh v tr thnh mt lnh vc nghin cu
quan trng trong iu khin t ng. iu khin d bo theo m hnh (Model Predictive
Control-MPC) l mt trong nhng k thut iu khin tin tin c nhiu ngi a chung
nht trong cng nghip [1], c c iu ny phn ln l do kh nng trin khai cc iu kin
rng buc vo thut ton iu khin mt cch d dng m cc phng php iu khin kinh
in khc khng c c.
iu khin d bo l mt phng php da trn m hnh ca h thng tht d on
trc cc p ng tng lai, trn c s , mt thut ton ti u ha hm mc tiu s c s
dng tnh ton chui tn hiu iu khin sao cho sai lch gia p ng d bo v p ng
tham chiu ca m hnh l nh nht. Cu trc chung ca h iu khin d bo c ch ra trn
hnh 1. Trong : r(k) l tn hiu tham
chiu ca m hnh ti thi im k v
chnh l trng thi u ra mong mun
ca i tng iu khin; y(k) l tn
hiu u ra ca h thng thc; y
M
(k) l
u ra ca m hnh; u(k) l tn hiu iu
khin i tng ti thi im k; y , u l
tn hiu iu khin d bo v u ra d
bo tng lai tng ng ca h thng
da trn c s m hnh.
K thut iu khin d bo c
p dng mt cch linh hot trong lnh
vc iu khin qu trnh thng qua vic
hiu chnh cu trc b iu khin ph
hp vi i tng iu khin cho
theo cc thng s rng buc v cc yu cu hot ng ca h thng. Mt b iu khin d bo
bao gm 5 thnh phn c bn sau: M hnh h thng v m hnh phn b nhiu; Hm mc tiu;
iu kin rng buc; Phng php gii bi ton ti u ha; Chin lc iu khin dch dn v
tng lai.
Kh khn ln nht khi p dng iu khin d bo l xy dng m hnh v gii bi ton
ti u ha. i vi h thng phi tuyn th cng vic ny cng kh khn hn do rt kh xy dng
c m hnh tt m t chnh xc tnh cht ca h thng v thut ton ti u ha thng phc
tp, s lng php tnh ln, thi gian thc hin ko di do phi gii quyt bi ton ti u ha phi
tuyn. Chnh v vy m theo thng k c trn 2200 ng dng thng mi s dng k thut iu
khin d bo th phn ln trong s ny u tp trung vo cc h thng tuyn tnh. V vy vic
nghin cu v ng dng iu khin d bo cho cc h thng phi tuyn ang c nhiu nh
khoa hc quan tm, n c ngha ln c v l thuyt v thc tin.
Hnh 1: Cu trc chung h iu khin d bo
Tp ch Khoa hc & Cng ngh - S 3(43)/Nm 2007

74
i vi h thng ng phi tuyn, m hnh c xy dng theo hai cch: M hnh vt l
hay m hnh hp trng v m hnh hp en hoc hp xm l m hnh s dng b xp x tng
qut v tp d liu vo ra ca h thng.
M hnh vt l ch thch hp i vi cc h thng n gin, v c th m t tnh cht ca
h thng bng cc phng trnh vi phn, trong khi m hnh hp en hoc hp xm thch hp cho
cc h thng phc tp hoc trng hp khng bit nhiu thng tin v h thng khi m hnh ha.
Do tnh cht phc tp ca cc h thng phi tuyn, nn trong thc t dng m hnh hp en v
hp xm thng c s dng nhiu hn. Trong iu khin d bo, tiu chuNn quan trng cho
vic p dng k thut m hnh ha hp en l: Cu trc m hnh n gin, tin cy v cho php
khai thc trit lng thng tin bit trc v h thng; m hnh khng qu phc tp, tc c
lng tham s khng qu ln; d dng p dng thut ton ti u ha trc tuyn (on-line) hiu
chnh cc thng s m hnh.
Trong bi bo ny, tc gi xut mt phng php xy dng m hnh i tng phi
tuyn s dng m hnh m Takagi-Sugeno
2. Xy dng m hnh i tng bng m hnh m Takagi-Sugeno
2.1. i tng iu khin
Xt i tng iu khin l mt
h thng b kp (hnh 2) c m t bi
h phng trnh:
( )
( )
( )
( )
1 1 1 2
2 1 1 2 2 2
1
h ku a 2g h h
A
1
h a 2g h h a 2gh
A

Trong :
2
cm 200 A = l tit
din ngang ca 2 b;
2
1
cm 1 a = l tit
din ng ni gia hai b;
2
2
cm 5 . 0 a =
l tit din ng thot b 2;
2
/ 981
2
/ 81 . 9 s cm s m g = = l gia tc trng
trng; lu lng bm cc i ca my
bm s / cm 300 min / dm 18 Q
3 3
max
= =
Yu cu ca bi ton iu khin h thng l gi cho mc cht lng trong b hai bm theo
mt qu o tham chiu cho trc.
Lu lng nc bm vo b th nht c th hin thnh phn k.u trong
u l in p iu khin thay i t 0 n 24VDC, k l h s khuch i ca my bm.
Trong thc t k l mt h s phi tuyn ph thuc vo c tnh ca ng c bm.
n gin, trong bi bo ny chn k l mt hng s khi lu lng nc bm vo b
l tuyn tnh theo in p u. Nh vy vi lu lng cc i s / cm 300 Q
2
max
= th k =
12.5.
Hnh 2: M hnh h thng bn kp
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Vi tp d liu u vo bn ngu nhin (hnh 3a) p ng u ra ca h thng (mc
nc h
2
), c dng nh hnh 3b. Quan st p ng h ta thy: Qun tnh ca h thng ln; h
thng khng p ng vi tn hiu vo c thay i nhanh (tn hiu iu khin c tn s cao);
tm hot ng ca u ra t 0 n 40 cm do gii hn vt l ca b cha.
2.2. Xy dng m hnh m
S dng h m Takagi-Sugeno vi hai u vo hi quy l u(k-1) v h
2
(k-1) v mt
u ra l h
2
(k) m t cho h thng b kp. thun tin cho vic k hiu, trong tp bi
bo ny chn k hiu h(k-1) thay cho h
2
(k-1) v h(k) thay cho h
2
(k). Cc rng buc trn tn
hiu vo ra:
( )
( ) 40 k h 0
24 k u 0



- Chn s tp m u vo u(k-1) l 2, c dng phn b Gauss vi hai tm ti c
1
= 7.2 v
c
2
= 16.8; phng sai 8 . 3 :








- Chn s tp m u vo h(k-1) l 5, c dng phn b Gauss vi cc tm ti c
1
= 4, c
2
=
12, c
3
= 20, c
3
= 28 v c
4
= 36; phng sai 2 :
- Tp lut m tng qut cho m hnh m Takagi-Sugeno c dng:
Hnh 4: Tp m u vo u(k-1) v ra h(k-1)
Hnh 3 a,b: Tn hiu vo v tn hiu ra ca bn kp
a) b)
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76
: R
j
Nu ( ) 1 k h l
1 , j
A v ( ) 1 k u l
2 , j
A th:
( ) ( ) ( ) 1 1
2 , 1 , 0 ,
+ + = k h w k u w w k h
j j j j

V s tp m u vo u(k-1) l 2 v s tp m u vo h(k-1) l 5 nn c ti a 2x5 = 10
lut m c xy dng. Tc l j = 1...10. Nh vy ta cn xc nh s lng tham s cho m
hnh l 3x10 = 30 tham s.
- u ra ca m hnh i tng iu khin c tng hp nh sau:
( ) ( ) ( ) ( ) [ ] ( )

=
+ + =
10
1 j
j j j 2 , j 1 , j 0 , j
, c , h , u 1 k h w 1 k u w w k h (1)
Trong : [ ] ( )

=
=
=

=
10
1 j
j
10
1 j
j
j
j j j
1 ; , c , h , u (2)
j
l ph thuc ca cc tn hiu hi quy ti lut th j vo cc tp m c dng phn b
Gauss v c gi tr xc nh bi:
( ) ( ) ( ) ( )
|
|

\
|

|
|

\
|

=
2
2 ,
2
2 ,
2
1 ,
2
1 ,
1
2
1
exp .
1
2
1
exp
j
j
j
j
j
c k h c k u


j j
, c l cc trng tm v phng sai tng ng ca cc tp m c gi tr nh cho trong cc
tp m u vo phn trn.
2.3. Thut ton nhn dng tham s m hnh m Takagi-Sugeno
- Chn tp d liu nhn dng cc tham s m hnh gm 2000 mu d liu vo ra c dng
bn ngu nhin theo hng ph ton b vng hot ng c th ca h thng pht huy tt c
cc tnh cht ca cc m hnh cc b. Tp d liu c dng:
- t:
[ ]
( ) ( ) [ ]
T
j
T
2 , j 1 , j 0 , j j
1 k h 1 k u 1
w w w
=
=

S dng thut ton LOLIMOT vi tp d liu nhn dng nh trn nhn dng cc
tham s ca m hnh, ta c:
( )
d j
T
j
1
j j
T
j j
h Q Q =

(3)
vi: + ( ) ( ) ( ) [ ] : 2000 h ..., , 2 h , 1 h h
T
d d d d
= Tp 2000 mu d liu u ra nhn dng.
+ ( ) ( ) ( ) [ ] : 2000 ..., , 2 , 1
T
j j j j
= Ma trn cc tn hiu hi quy u vo.
+ ( ) ( ) [ ] ( ) ( ) ( ) [ ] ( ) ( )
j j j j j j j
, c , 2000 h , 2000 u ..., , , c , 1 h , 1 u diag Q = : l ma trn cho
khi v c gi l ma trn trng s u vo. Cc thnh phn u(i), h(i), (i = 1...2000) l gi tr
ri rc ca tp d liu nhn dng cho.
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Kt qu ca vic nhn dng tham s m hnh theo cng thc (3) ta s xy dng c mt
m hnh m TS hon chnh vi 10 lut m m t cho i tng iu khin, cc lut m c
pht biu chi tit nh sau:
R
1
: Nu ( ) 1 k h l H1 v ( ) 1 k u l LOW th:
( ) ( ) ( ) 1 k h 9873 . 0 1 k u 0159 . 0 0023 . 0 k h
1
+ + =
R
2
: Nu ( ) 1 k h l H1 v ( ) 1 k u l HIGH th:
( ) ( ) ( ) 1 k h 0115 . 1 1 k u 0068 . 0 642 . 0 k h
2
+ + =
R
3
: Nu ( ) 1 k h l H2 v ( ) 1 k u l LOW th:
( ) ( ) ( ) 1 k h 9919 . 0 1 k u 0047 . 0 0048 . 0 k h
3
+ + =
R
4
: Nu ( ) 1 k h l H2 v ( ) 1 k u l HIGH th:
( ) ( ) ( ) 1 k h 005 . 1 1 k u 0173 . 0 5609 . 0 k h
4
+ =
R
5
: Nu ( ) 1 k h l H3 v ( ) 1 k u l LOW th:
( ) ( ) ( ) 1 k h 9989 . 0 1 k u 0315 . 0 2142 . 0 k h
5
+ + =
R
6
: Nu ( ) 1 k h l H3 v ( ) 1 k u l HIGH th:
( ) ( ) ( ) 1 k h 0220 . 1 1 k u 0228 . 0 7215 . 0 k h
6
+ + =
R
7
: Nu ( ) 1 k h l H4 v ( ) 1 k u l LOW th:
( ) ( ) ( ) 1 k h 9881 . 0 1 k u 0189 . 0 0805 . 0 k h
7
+ + =
Hnh 5: Tp mu d liu nhn dng
0 500 1000 1500 2000
0
10
20
30
40
M
u
c

c
h
a
t

l
o
n
g

h
(
k
)
,

C
m
Samples
0 500 1000 1500 2000
0
10
20
30
T
i
n

h
i
e
u

d
i
e
u

k
h
i
e
n

u
(
k
)
,

V
o
l
t
Samples
Tp ch Khoa hc & Cng ngh - S 3(43)/Nm 2007

78
R
8
: Nu ( ) 1 k h l H4 v ( ) 1 k u l HIGH th:
( ) ( ) ( ) 1 k h 0111 . 1 1 k u 0264 . 0 5766 . 0 k h
8
+ + =
R
9
: Nu ( ) 1 k h l H5 v ( ) 1 k u l LOW th:
( ) ( ) ( ) 1 k h 0077 . 0 1 k u 0196 . 0 4922 . 0 k h
9
+ + =
R
10
: Nu ( ) 1 k h l H5 v ( ) 1 k u l HIGH th:
( ) ( ) ( ) 1 k h 9908 . 0 1 k u 0035 . 0 1091 . 1 k h
10
+ + =
u ra ca m hnh m c tng hp theo cng thc (1).
3. Kt qu m phng:
Chn tp tn hiu iu khin u vo
gm 1000 mu bn ngu nhin c dng nh
hnh 6. Mc chnh xc ca m hnh c
tnh theo cng thc:
( )
( )
|
|

\
|
=
Y var
Y Y var
1 % 100 VAF
m

Y: l u ra ca h thng v Y
m
l u
ra d bo t m hnh.
a tp mu d liu iu khin vo
ng thi trn m hnh va nhn dng
c trn v i tng iu khin, ta
nhn c cc kt qu nh hnh 7a,b v
hnh 8. Trong :
Hnh 7a l kt qu d bo mt bc
v pha trc; hnh 7b l kt qu d bo 20 bc v pha trc.










Hnh 6: Tp mu d liu iu khin
Hnh 7a,b : Kt qu d bo mt bc v d bo 20 bc
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79
4. Kt lun
Qua kt qu trn ta nhn thy rng: mc d vn cn xut hin sai s m hnh, c
bit l trong d bo 20 bc v pha trc, nhng m hnh trn hon ton c th p dng trong
thut ton iu khin d bo. L do chnh v trong thut ton MPC, tm d bo lun c gii hn,
khi tm d bo tng s dn n tng thi gian thc hin thut ton. Trong phm vi bi bo ny,
tm d bo ch thay i trong khong t 1 n 20, tng ng vi mc chnh xc ca m hnh
t 99.9942% n 99.5138%
Tm tt
iu khin d bo theo m hnh l mt trong nhng k thut iu khin tin tin c
nhiu ngi a chung nht trong cng nghip. Trong h thng iu khin d bo, vn xy
dng m hnh i tng c ngha quyt nh n cht lng h iu khin. Bi bo xut
mt phng php xy dng m hnh i tng phi tuyn s dng m hnh m Takagi-Sugeno.
Cc kt qu m phng cho thy chnh xc v tnh kh thi ca m hnh.
Summary
Model Predictive Control-MPC is one of popular advanced technologies in industry. In
predictive control system, the plan model decides the quality of control system. This article
proposes a method of modelling non - linear plan, using Takagi-Sugeno model. The modelling
results shows its the precise and possibility.

TI LIU THAM KHO

[1]. S. Joe Qin, Thomas A. Badgwell (2000), An Overview of nonlinear Predictive Control
Application IEEE.
[2]. Babuska, J.M Sousa, HB Verbrugen (2000), Predictive Control of Nonlinear System Basic
on Fuzzy and Neural Models IEEE.
[3]. Rolf Findeisen, Frank Allgower (2001), An Introducton to nonlinear model Predictive
Control IEEE transaction on fuzzy System.