Chuong 1 Ltdknc

MnMn hchc

L THUYT IU L THUYT IU KHIN NNG CAOKHIN NNG CAO

Gi i PGS TS H h Thi H Ging vin: PGS. TS. Hunh Thi HongB mn iu Khin T ng

Khoa in in T i hc Bch Khoa TP.HCM

Email: [email protected]: http://www4 hcmut edu vn/~hthoang/

15 January 2014 H. T. Hong - HCMUT 1

Homepage: http://www4.hcmut.edu.vn/~hthoang/

Chng 1: Gii thiu

NiNi dung dung mnmn hchc

Chng 1: Gii thiu

Chng 2: iu khin phi tuyn

Chng 3: iu khin ti u

Chng 4: iu khin thch nghi Chng 4: iu khin thch nghi

Chng 5: iu khin bn vng

Chng 6: Mt s v d thit k h thng K


Gio trnh: L thuyt iu khin hin i Nguyn Th

TiTi liuliu thamtham khokho Gio trnh: L thuyt iu khin hin i Nguyn Th

Phng H, NXB i hc Quc Gia TPHCM

Bi i L th t i khi H h Thi Bi ging: L thuyt iu khin nng cao Hunh ThiHong, http://www4.hcmut.edu.vn/~hthoang/ltdknc/

Bi tp: BKel


Tham kho:

TiTi liuliu thamtham khokho

Tham kho:[1] Applied nonliear control, Jean-Jacques E. Slotine & Weiping Li Prentice Hall International Editions Inc& Weiping Li, Prentice-Hall International Editions, Inc. 1991. [2] Optimal Control Frank L Lewis Vassilis L[2] Optimal Control, Frank L. Lewis, Vassilis L. Symos, A Wiley-Interscience Publication , 1995[3] Adaptive control Karl Johan Astrom & Bjom[3] Adaptive control , Karl Johan Astrom & Bjom Wittnmark , Addison-Wesley Publishing Company, second edition 2000.[4] Robust and optimal cotrol, Kemin Zhou with John C. Doyle and Keith Glover , Prentic Hall, Upper Saddle


River , 1996.

Kim tra (50%) trong :nh gi mn hcnh gi mn hc

Kim tra (50%), trong :Bi tp: 30% (bi tp trn lp + bi tp v nh)Kim tra gia k: 20% (thi vit)Kim tra gia k: 20% (thi vit)

Thi cui k: 50% (thi vit)

Ch : Sinh vin khng c s dng ti liu in v photocopy trong phng thiphotocopy trong phng thi.


ChngChng 11ChngChng 11

GII THIUGII THIU


T gia th k 19 tr v trc: HTK c thit kiu khin s khaiiu khin s khai

T gia th k 19 tr v trc: HTK c thit kda vo trc gic, khng c c s ton hc.


T gia th k 19 n nhng nm 1930: nn mng

iu khin kinh in (trc 1960)iu khin kinh in (trc 1960)

T gia th k 19 n nhng nm 1930: nn mngton hc l thuyt iu khin ra iLyapunov (1892)Lyapunov (1892)Routh-Hurwitz (1895)

T th i 1930 1940 l th t i khi T thp nin 1930 n 1940: l thuyt iu khinkinh in pht trin mnh:

c tnh tn s, biu BodeBiu Nyquist, Nichols,

Qu o nghim s


H thng SISO

c im ca iu khin kinh inc im ca iu khin kinh in

H thng SISO i tng tuyn tnh (hoc i tng phi tuyn lm

vic quanh im tnh)vic quanh im tnh) Thit k trong min tn s

S d bi S dng biu Thit k nhm t c s cn bng:

C Cht lng v bn vng nh hng ca cc yu t khng chc chn

B iu khin PID


Cht lng iu khin c mt s hn ch:

Hn ch ca l thuyt iu khin tuyn tnh kinh inHn ch ca l thuyt iu khin tuyn tnh kinh in

Cht lng iu khin c mt s hn ch:Khng ti uCht lng iu khin gim nu i tng phi tuyn

lm vic trong phm vi rngCht lng iu khin khng m bo khi tham s

ca i tng thay ica i tng thay iKhng m bo t c cht lng thit k nu m

hnh ca i tng c yu t khng chc chn. L thuyt iu khin kinh in rt kh p dng trong

trng hp:H MIMOH MIMOH phi tuynCht lng trong min thi gian


Cn trc tay my

Mt s i tng phc tp kh p dng LTK kinh inMt s i tng phc tp kh p dng LTK kinh in

Cn trc, tay my


Li tu


Li tu


iu khin my bay


iu khin my bay


iu khin qu trnhMt s i tng phc tp kh p dng LTK kinh inMt s i tng phc tp kh p dng LTK kinh in

iu khin qu trnh


iu khin phi tuyn

iu khin hin i (1960 iu khin hin i (1960 nay)nay)

iu khin phi tuyn iu khin ti u iu khin thch nghi iu khin thch nghi iu khin bn vng


C s ton hc ca LTK phi tuyn ra i t th k

iu khin phi tuyniu khin phi tuyn C s ton hc ca LTK phi tuyn ra i t th k

19, t sau 1960 iu khin phi tuyn pht trin mnh. Cc phng php phn tch h thng iu khin phi

tuynPhng php hm m tPhng php mt phng phaPhng php mt phng phaPhn tch n nh LyapunovTiu chun Popovnh l li bPhn tch th ng

Cc phng php thit k h thng iu khin phi tuyn Cc phng php thit k h thng iu khin phi tuynHi tip tuyn tnh haiu khin trt


Phng php cun chiu,

L phng php iu khin trong b iu khin c

iu khin ti uiu khin ti u L phng php iu khin trong b iu khin c

thit k sao cho ti thiu mt hm ch tiu cht lng Nhng nm u tin:

Wiener (1930s 1950s): lc, d boKolmogorov (1940s): qu trnh ngu nhinQui hoch tuyn tnh v phi tuyn (1940s)Qui hoch tuyn tnh v phi tuyn (1940 s)

iu khin ti u:Qui hoch ng Bellman (1950s)Nguyn l cc i Pontryagin (1950s)iu khin ti u tuyn tnh (cui 1950s 1960s) Lc Kalman Lc Kalman Bi ton iu chnh ton phng tuyn tnh (LQR) iu khin ti u ngu nhin (LQG)


L phng php iu khin trong cc thng s ca

iu khin thch nghiiu khin thch nghi L phng php iu khin trong cc thng s ca

b iu khin c iu chnh t ng khi iu kin lmvic thay i nhm t c cht lng ti u.

Nhng nm 1950: HTK theo m hnh tham chiu Cui thp nin 1960: tin b ca l thuyt iu khinng gp vo s pht trin ca l thuyt iu khin thchng gp vo s pht trin ca l thuyt iu khin thchnghi (m t khng gian trng thi, l thuyt n nhLyapunov, qui hoch ng,)

Thp nin 1970 v nhng nm u 1980: chng minhtnh n nh ca h thng thch nghi.

Cui thp nin 1980 n u nhng nm 1990: tnh bn Cui thp nin 1980 n u nhng nm 1990: tnh bnvng ca b iu khin thch nghi

Gn y: pht trin cc gii thut iu khin hc


S khi tng qut h thng K thch nghiS khi tng qut h thng K thch nghi

Nhn dng/ c lngc lng

iu kin lm vic

Chnh nh

u(t)y(t)

B iu khinr(t) i tng


L phng php iu khin trong b iu khiniu khin bn vngiu khin bn vng

L phng php iu khin trong b iu khinc thit k sao cho tnh n nh v cht lng cah thng vn m bo khi cc yu t khng chc g y gchn v/hoc nhiu lon nm trong gii hn nhtrc.

( QG) 1950s: iu khin ti u H2 (hay LQG) 1981(Zames): bi ton iu khin H, phng php

chnh li vngchnh li vng 1984 (Doyle), 1987 (Francis): iu khin ti u H

trong khng gian trng thitrong khng gian trng thi


S khi thit k h thng iu khin bn vngS khi thit k h thng iu khin bn vng

y(t)+

Wmr(t) y(t)

G ++r(t)

K

iu khin bn vng m hnh sai s nhn

y(t)+

Wmr(t)

Ky( )

G ++r(t)

K


iu khin bn vng m hnh sai s cng

S dng phng php iu khin no?S dng phng php iu khin no?

)(tdv )()()( tftBvdttdvM

Nn chn phng php iu khin no?Khi m hnh chnh xc, thng s ca xe khng i?Khi mun ti thiu nng lng tiu tn?Khi thng s ca xe thay i?Khi c sai s m hnh (m hnh khng chc chn)?

15 January 2014 H. T. Hong - HBK TPHCM 22

Khi c sai s m hnh (m hnh khng chc chn)?

S dng phng php iu khin no?S dng phng php iu khin no?

i di a: tiet dien van xaA: tiet dien ngang cua bong: gia toc trong trng(t)

u(t)qin

g: gia toc trong trngk: he so cong suat bmCD: he so xa

y(t) qout

)(2)(1)( tgyaCtkuA

ty D Nn chn phng php iu khin no? Nn chn phng php iu khin no?

Khi iu khin n nh ha?Khi K bm theo tn hiu t trong min lm vic rng? g gKhi mun ti thiu nng lng tiu tn?Khi thng s ca bn thay i?Khi c sai s m hnh (m hnh khng chc chn)?


Khi c sai s m hnh (m hnh khng chc chn)?

S dng phng php iu khin no?S dng phng php iu khin no?J: moment quan tnh cua canh tay mayM: khoi lng cua canh tay maym: khoi lng vat nangl: chieu dai canh tay mayllC : khoang cach t trong tam tay may en truc quay B: he so ma sat nht g: gia toc trong trng

mu

g g g gu(t): moment tac ong len truc quay cua canh tay may (t): goc quay (v tr) cua canh tay may

1)( MlmlB )()(

1cos)()()(

)()( 222 tumlJ

gmlJMlmlt

mlJBt C

Nn chn phng php iu khin no? p g p p Khi iu khin tay my trong phm vi rng? Khi khi lng vt nng thay i? Khi m hnh khng chc chn?


Khi m hnh khng chc chn? Khi mun ti u nng lng tiu tn v p ng nhanh?

a s cc hng sn xut thit b iu khin

ng dng thc tin iu khin hin ing dng thc tin iu khin hin i

a s cc hng sn xut thit b iu khin (Siemens, Omron, Autonics, Schneider, Precision Digital ) u c dng sn phm b iu khin tDigital,...) u c dng sn phm b iu khin t chnh (Auto-tuning controller), ng dng iu khin

hit t i khi t hnhit , tc ng c, iu khin qu trnh, Cc phn mm DCS (Distributed Control System)

cao cp c chc nng iu khin thch nghi.PCS7 (Siemens)Delta V (Emerson)

iu khin ti u: tu v tr, qu trnh chng ct


iu khin bn vng: iu khin qu trnh

Ni dung ca mn hc cp cc phng php thit k b

Gii thiu ni dung mn hcGii thiu ni dung mn hc Ni dung ca mn hc cp cc phng php thit k b iu khin cho h thng ng nhm m bo d tr n nh v cht lng ti u trong iu kin rng buc ca ch

lm vic. ng dng LTK phi tuyn, iu khin ti u, iu khin thch nghi v iu khin bn vng trong thit k v thc hin cc b iu khin cho h thng ngthc hin cc b iu khin cho h thng ng.

Mn hc ch trnh by nhng ni dung c bn nht v: iu khin phi tuyn iu khin ti u iu khin thch nghi iu khin bn vng iu khin bn vng

L thuyt chuyn su hn: chng trnh Cao hc


Cc mn hc trc:

Cc mn hc lin quanCc mn hc lin quan

Cc mn hc trc:Ton cao cp (i s tuyn tnh, Phng trnh vi

phn Phng php tnh )phn, Phng php tnh,)C s iu khin t ng

C h h ti th ( h ) Cc mn hc chuyn su tip theo (cao hc):iu khin phi tuyn

iu khin a biniu khin ti u v bn vng

iu khin thch nghi


Sau khi hon tt mn hc sinh vin c th:

Chun u raChun u raSau khi hon tt mn hc, sinh vin c th: Phn tch v thit k HTK phi tuyn dng phng php hm

m t, l thuyt n nh Lyapunov. Thit k b K hi tip tuyn tnh ha v b iu khin trt. Hiu bit v cc phng php iu khin ti u;

Thit k hi b i khi t h t t h Thit k hin b iu khin ton phng tuyn tnh Hiu bit khi nim iu khin thch nghi v cc s iu

khin thch nghikhin thch nghi Thit k b iu khin thch nghi theo m hnh tham chiu, b iu khin t chnh nh, b iu khin hoch nh li.

Hiu bit khi nim iu khin bn vng Thit k b iu khin bn vng LQG, H2, H.


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Chuong 1 Ltdknc