LI NI U..............................................................................................................4 CHNG 1: L THUYT MNG NRON..............................................................6 1.1 Nron t nhin....................................................................................................6 1.2 Nron nhn to....................................................................................................8 1.3 Mng truyn thng v hun luyn mng theo thut ton Brandt-Lin...............10 1.3.1 Mng truyn thng.....................................................................................10 1.3.2 Thut ton Brandt-Lin...............................................................................12 CHNG 2: GII THIU ATMEGA 128................................................................16 2.1 c im ca Atmega 128 ...............................................................................16 2.2 M t cc chn ..................................................................................................18 2.3 Kin trc tng quan ca Atmega128 ................................................................21 2.3.1 B nh ca Atmega128 ............................................................................21 2.3.2 Tp thanh ghi :..........................................................................................23 2.3.3 Port (cng) vo ra .....................................................................................24 2.3.4 Giao tip vi SRAM ngoi ........................................................................27 2.3.5 Cu trc ngt ca Atmega 128 .................................................................28 2.3.6 B bin i A/D bn trong........................................................................31 2.3.7 B truyn/nhn UART ..............................................................................32 2. 3.8 B nh thi .............................................................................................34 CHNG 3: M PHNG H THNG IU KHIN C THIT K DA TRN MNG NRON..............................................................................................37 3.1 Thit k b iu khin PID-Neural c chnh nh thch nghi trng s ca mng .................................................................................................................................37 3.1.1 Thut ton chnh nh trng s...................................................................37 3.1.2 Kt qu m phng......................................................................................39 3.2 Thit k b iu khin s dng sai lch lm u vo.......................................55 3.2.1 Thut ton chnh nh trng s...................................................................55 3.2.2 Kt qu m phng......................................................................................59 CHNG 4 : NG DNG IU KHIN I TNG THC............................67

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4.1 ng c in mt chiu....................................................................................67 4.1.1. Cu to ca ng c mt chiu.................................................................67 4.1.2. Encoder gn trn ng c mt chiu.........................................................69 4.1.3. ng c s dng th nghim...............................................................70 4.2. Thit k b iu khin trn nn vi iu khin Atmega 128.............................71 4.2.1. Khi iu khin trung tm.........................................................................72 4.2.2. Giao tip vi LCD.....................................................................................73 4.2.3. Phng thc truyn nhn d liu qua RS232 trn PC ............................74 4.2.3.1 Cu trc vt l ca cng RS232 .............................................................74 4.2.3.2 Qu trnh truyn v nhn d liu ca cng COM ca PC......................75 4.2.3.3 Cc loi truyn thng ni tip ...............................................................79 4.2.4. Khi driver iu khin ng c.................................................................81 4.2.4.1. Gii thiu v IC cu H MC33886..........................................................81 4.2.4.2. S nguyn l ca driver iu khin ng c.....................................84 4.2.5. Giao tip vi bn phm..............................................................................85 4.3 Thit k giao din bng iu khin...................................................................86 4.3 Thit k h thng iu khin trn nn b iu khin PID-Neural ....................89 4.3.1 M hnh iu khin....................................................................................89 4.3.2 Chnh nh cc trng s v tnh ton u ra...............................................92 4.5 nh gi kt qu thc nghim...........................................................................93 Chng 5: KT LUN...............................................................................................94 Ti liu tham kho.......................................................................................................95 ....................................................................................................................................95

2

3

LI NI UCon ngi lun ngc nhin v kh nng lu tr, nhn dng v x l thng tin ca b no con ngi. T lu, cc nh khoa hc tm hiu, nghin cu v sng to cc gii php cho cc bi ton k thut theo phng php x l ca b no. Mng nron nhn to ra i t . Hin nay, mng nron c ng dng trong nhiu lnh vc nh nhn dng, x l thng tin, d bo v iu khin. n ca nhm nghin cu kha cnh ng dng trong iu khin ca mng nron. Khng ging cc lnh vc ng dng khc l vic tnh ton mng nron c thc hin bng my tnh, khi p dng vo iu khin, mi tnh ton ca mng nron u c thc hin bng vi iu khin c tc thp hn tc my tnh rt nhiu nn yu cu thit k cu trc mng gn nh ph hp vi vi iu khin v ti u thi gian iu khin c t ln hng u. Khi ng dng trong iu khin cu trc mng nron s bao gm lun c i tng iu khin nn khng th s dng cc lut hc thng thng nh lut hc lan truyn ngc m cn tm 1 lut hc khc ph hp hn. Sau mt thi gian di tm kim, nhm tm ra c thut ton Brandt-Lin lm gii php cho vic hun luyn mng nron. Thut ton Brandt-Lin l sn phm do 2 nh khoa hc Robert D. Brandt v Feng Lin a ra. Trong n ny, ngoi vic thc hin tt cc m phng, nhm tin hnh iu khin thc t c ng c 1 chiu c cng sut nh v vi cc yu cu iu khin khng cao. Do hn ch v dng c th nghim nn b iu khin da trn mng nron ca nhm mi ch ng dng iu khin 1 i tng iu kin n gin nn cha th khng nh s iu khin thnh cng vi cc loi i tng khc. n ca nhm chc hn cn nhiu sai st m bn thn cc thnh vin trong nhm cha pht hin ra. Do vy nhm rt hy vng nhn c s ch bo ca thy c, bn b v ngi c. Chng em, nhng thnh vin trong nhm lm n xin gi li cm n n ph gio s, tin s Phan Xun Minh tn tnh hng dn chng em hon thnh n ny. Ngay t ban u c t ra mc tiu r rng v cao gip c nhm thy r

4

nhng vic mnh cn hon thnh. C cung cp cho nhm nhng li khuyn mang tnh nh hng ng n khi nhm gp kh khn trong qu trnh nghin cu. Nhm cm n nhng ngi bn h tr, cung cp nhng ti liu v mng nron qu gi v gip v mt thit k, nh m n ny c hon thnh ng hn. H Ni, ngy 30 thng 5 nm 2007 Nhm thc hin n Nguyn Ngc Hi Cao Th Phong V on Qu Anh

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CHNG 1: L THUYT MNG NRON

1.1 Nron t nhinThnh phn cu thnh c bn ca h thn kinh trung ng l nron. T bo sinh hc ny nhn v x l thng tin v sau giao tip vi cc phn khc ca c th con ngi. Hnh 1.1 trnh by mt m hnh n gin cc nron sinh hc v hnh 1.2 m t mt nron sinh hc. Thn t bo thn kinh c gi l soma v c bao quanh bi mt lp mng huyt tng mng.

Hnh 1.1: S 5 nron lin kt vi nhau

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Hnh 1.2: S mt nron sinh hc Mi t bo thn kinh nhn nhiu u vo thng qua cc dendrite v sau khi x l s to mt u ra dc theo axon. im ni gia mt axon v mt dendrite c gi l synapse. Thng tin do mt t bo thn kinh to ra c truyn dc theo axon ca n. Mt axon kt thc mi ni khp ca mt nron khc. V mt x l thng tin, mt nron vi nhiu dendrite nh nhiu u vo v mt axon i din mt u ra c th c xem nh mt h MISO. Cc hm x l thng tin trong h MISO ny c chia thnh 4 loi. Hnh 1.3 m t mt nron n gin.

Hnh 1.3: M hnh mt nron n gin c nhiu u vo v mt u ra

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Dendrites: Chng bao gm mt cy nhiu nhnh, ng vai tr nh cc u vo ca nron. Trung bnh c 103 10 4 dendrite trn mt nron. Synapse: y l vng cha ng cc kinh nghim trong qu kh. N cung cp b nh di hn cho cc kinh nghim c thu thp trong qu kh. Vng ny nhn thng tin t cc gic quan hay t cc nron khc v cung cp u ra thng qua axon. Soma: Thn t bo thn kinh c gi soma. N nhn thng tin t synapse v sau x l thng tin. Hu nh tt cc cc chc nng logic ca nron c thc hin soma. Axon: u ra ca nron c gi l axon.

1.2 Nron nhn to

Hnh 1.4: N-ron nhn to Cu trc mt nron nhn to (xem hnh 1.4) bao gm cc thnh phn sau: u vo x1 , x2 ,..., xn : Cc u vo nhn vi cc trng s w1 , w2 ,..., wn . Mt u vo c gi tr bng 1 c gi l 1 bias v c k hiu l x0 . Hm s u vo f tnh tp hp cc tn hiu u vo cho nron u = f ( x, w) , trong x v w ln lt l cc vect u vo v trng s. Thng thng chn f l hm tng

u = xi wi .i =1

n

Hm kch thch s tnh ton mc kch thch ca nron a=s(u).

8

Hm p ng tnh ton gi tr tn hiu u ra ca nron o=g(a). Tn hiu u ra ca tn hiu thng thng bng mc kch thch ca nron o=a. Ty theo s khc nhau ca tng tham s trn m sinh ra cc kiu nron khc nhau. Cc gi tr u vo v u ra ca 1 nron c th s nh phn {0,1}, s lai {-,1}, gi tr lin tc trong on [0,1], hoc cc s ri rc trong 1 khong c nh ngha trc.

Hnh 1.5: Cc hm kch thch hay c s dng nht: (a) Hm chn cng; cc (c-2); (d) hm gaussian (hm hnh qu chung) Hnh trn m t cc loi hm kch thch hay c s dng nht.

(b-1),

(b-2) Cc hm chn tuyn tnh ; (c) Cc hm sigma: hm logsig (c-1), hm logsig 2

Hm chn cng (hnh 1.5[a]). Nu gi tr u vo ca mng ln hn 1 gi tr chn no th nron tr nn tch cc (gi tr kch thch bng 1), ngc li n s khng tch cc (gi tr kch thch bng 0). Hm chn tuyn tnh. Gi tr kch thch s tng tuyn tnh cng vi s tng ca tn hiu u vo v khi n mt ngng no u ra s bo ha. Cc kiu hm chn tuyn tnh khc nhau ph thuc vo phm vi ca gi tr u ra nron (hnh 1.5[b-1], 1.5[b-2]).

9

Hm sigma. Hm sigma l hm truyn phi tuyn hnh ch S c c trng bi cc yu t sau. B chn, cc gi tr ca n b hn ch gia 2 ngng, v d nh [0 1], [-1 1]. n iu tng, ngha l cc gi tr ca g(u) khng bao gi gim khi u tng. Lin tc v tng, do c th o hm mi im trong min ca hm xc nh ca hm. Cc kiu hm sigma khc nhau c s dng trong thc t l: hm logsig

a=

1 (hnh 1.5[c-1]) trong c l hng s. Mt hnh thc khc ca hm 1 + e cu 1 e cu 1 + e cu(hnh 1.5[c-1]) v hm tansig:

logsig l hm logsig 2 cc: h ( u ) =

ecu e cu . tanh ( u ) = cu e + e cuHm gaussian (hm hnh qu chung, hnh 1.5[d]).

1.3 Mng truyn thng v hun luyn mng theo thut ton Brandt-Lin1.3.1 Mng truyn thngMng nron nhn to l tp hp cc nron nhn to c lin kt vi nhau theo mt quy lut nht nh nhm phc v nhu cu ca ngi thit k mng. C 2 loi mng nron thng c s dng l mng truyn thng v mng hi tip. Hnh 1.6 m t mng truyn thng v mng hi tip. D cu trc ca mng nron thuc loi no th mng nron u c cu to chung l c cu thnh t cc lp. Lp u tin c gi l lp u vo (input layer), lp cui cng c gi l lp u ra (output layer), cc lp gia c gi l cc lp n (hidden layer).

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Hnh 1.6 : (a) Mng truyn thng ; (b) Mng hi tip Khi ng dng i vi mt h ng hc, yu cu tnh ton nhanh lun c ln hng u. Mng hi tip tn nhiu thi gian tnh ton nn trong ni dung n ny, chng em s dng mng truyn thng. Sau y s xem xt mt mng nron truyn thng v tnh ton u ra ca mng. V d xt mng nron 2 lp sau:

Hnh 1.7: Mng nron 2 lp(k) Gi w ij l trng s ca nron th i, c u vo l j, thuc lp th k.

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xi l u vo th i, i=1,2,3z i l u ra ca nron th i thuc lp n, i=1,2,3.

o l u ra ca lp u ra.

net1 , net2 ln lt l hm truyn ca lp n, lp u ra.Tnh u ra ca cc lp: Lp n:(1) (1) (1) a1(1) = x 1 w 11 + x 2 w 12 + x 3 w 13

z 1 = net 1 (a1(1) )(1) a2 = x 1w (1) + x 2 w (1) + x 3 w (1) 21 22 23 (1) z 2 = net 1 (a2 ) (1) (1) (1) a3(1) = x 1 w 31 + x 2 w 32 + x 3 w 33

z 3 = net 1 (a3(1) )Lp u ra:(2) (2) (2) a(2) = z1 w11 + z2 w12 + z3 w13

o = net2 (a(2) )1.3.2 Thut ton Brandt-LinT tng ca thut ton Brandt-Lin chia nh mt h thng phc tp thnh N h thng con gi l cc nt. Mi nt c 1 tn hiu u ra kh tch yn v nhiu tn hiu u vo kh tch xn . u vo v u ra ca cc nt c ni vi nhau thng qua cc trng s. xn . c tnh ng hc ca mi trm c m t bng mt hm nhn qu

Fn : Xn Yn ,

n N := {1,2,...,N },

trong X n v Yn l khng gian u vo v u ra. Nh vy, u ra yn ( t ) ca nt th n c xc nh bng phng trnh sau

yn ( t ) = Fn ( xn ( t ) ) ,

n N

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Hnh 2.1: Phn tch 1 h thng theo thut ton Brandt-Lin nh l. i vi mt h thng c tnh ng hc cho bi

p l l - 1 y = F w ij y i j=1 l j l i

(1) lin kt

nu

ccq

trng

s

w lij

c

thch

nghi

theo

+ & & w lij = ( wljk 1wljk+1 k=1

1 E - g l )Fl' ( xlij )yli - 1 i l yj y j

(2)

th ch s cht lng E =

1 n ( y m y i ) 2 s gim dn theo thi gian. Ni tm li l 2 i =1

phng trnh sau lun tha mn:+ & & w lij = ( wljk 1wljk+1 k=1 q

1 E - g l )Fl' ( xlij )yli - 1 i l yj y j

(3)

0 trong g> l h s thch nghi.l Trong w ij l trng s lin kt ca nt th j thuc lp l xut pht t nt th i.

ylj l u ra ca nt th th j thuc lp l.l x lij = w ij .yil- 1 l u vo ca nt th j thuc lp l xut pht t nt th i.

q l s lng nhnh ra xut pht t nt th j ca lp l

13

Chng minh.

Hnh 2.2: Mt phn ca mng nronl l dE dE dy j dx ij = l dw lij dy l dx ij dw lij j l dE dy j l 1 = l l yi dy j dx ij

=

dE l ' l l F j (x ij)yi dy lj

1

dE dE 1 = l dy lj dw lij Fjl ' ( xij ) yil 1l q dE E dE dyk+1 = + l dy lj y lj k =1 dyk +1 dylj

(1)

q E dE + +1 = l + wljk 1 l +1 Fkl +1' ( xljk ) (2) y j k =1 dyk

14

m theo (1) suy ra : dE dE 1 = (3) l +1 +1 dyk+1 dw ljk Fkl+ 1' ( x ljk ) y lj thay (3) vo (2) ta c :q dE E dE 1 + = l + wljk 1 +1 dy lj y j k =1 d wljk y lj

& +1 m w ljk =

dE +1 dw ljk

dE E 1 q l +1 l+1 1 & nn: = l w jk w jk l l dy j y j k =1 yj& w lij = dE dE l = l Fi l ' ( xij ) yil 1 l dw ij dy j

E 1 q l +1 l +1 1 l & = ( l w jk w jk l ) Fi l ' ( xij ) yil 1 y j k =1 yj+ & +1 = ( wljk 1w ljk k =1 q

1 E l l ) Fi l ' ( xij ) yil 1 l yj y j

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CHNG 2: GII THIU ATMEGA 128

2.1 c im ca Atmega 128 Kh nng thc thi cao, cng sut tiu th thp, b vi x l 8 bit B vi x l vi cu trc RISC : C th tnh ton 16 triu lnh trn 1s tn s 16MHz To ra y cc trng thi 32 thanh ghi vi mc ch lm vic v iu khin thit b ngoi vi B nh chng trnh khng i v b nh d liu : B nh d liu chng trnh l 128K Bytes vi chu k ty xa cho b nh l 10 000 ln B nh EEPROM l 4 K bytes vi chu k ty xa l 100 000 ln C 4 K Bytes b nh SRAM ni C th la chn m rng khng gian b nh ngoi ln 64 K Bytes C ch kha bo mt chng trnh Giao tip SPI trong lp trnh trong h thng Giao tip JTAG (theo chun IEEE 1149.1) : C kh nng qut danh gii theo chun JTAG M rng kh nng Debug trn chp B nh chng trnh, EEPROM, cc cu ch, kha cc bit thng qua giao tip JTAG Cc ngoi vi : Hai b Timer/Counter 8 bit hot ng ring r v c ch so snh

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Hai b Timer/Counter m rng 16 bit hot ng ring r, ch so snh v ch lu tr B m thi gian thc vi tn s dao ng ring Hai knh PWM 8 bit Su knh PWM vi kh nng thay i c t 2 n 16 bit Khi so snh u ra Tm knh ADC 10 bit Hai khi giao tip USART c th lp trnh Giao tip ni tip SPI master/slave Watchdog v Timer c th lp trnh nh xung nhp trn chip. T ng reset khi treo my Khi so snh tng t trn chip Cc c trng c bit ca vi iu khin : C ngun ngt bn trong v m rng C kh nng la chn xung clock bng phn mm C su ch ngh : Idle, ADC noise Reduction, Powersave, Power down, Standby, Standby m rng C kh nng nh c xung dao ng thi gian thc bn trong Cc cng vo ra : Gm 53 chn c th lp trnh Chip c 64 chn Gii in p lm vic t 4.5 V 5.5 V Di tc t 0 16 MHz Atmega128 l b vi iu khin CMOS 8 bit tiu th in nng thp da trn kin trc RISC. Cng ngh ny cho php cc lnh thc thi ch trong mt chu k nhp xung, v th tc x l d liu c th t n 1 triu lnh trn giy tn s 1 Mhz. Vi iu khin ny cho php ngi thit k c th ti u ho mc tiu th nng lng m vn m bo tc x l. Phn ct li ca AVR kt hp tp lnh phong

17

ph v s lng vi 32 thanh ghi lm vic a nng. Ton b 32 thanh ghi u c ni trc tip vi ALU (Arithmetic Logic Unit), cho php truy cp 2 thanh ghi c lp bng mt chu k xung nhp. Kin trc t c c tc x l nhanh gp 10 ln vi iu khin dng CISC thng thng. Atmega128 cung cp nhng c tnh sau: 128 K bytes b nh chng trnh, 4K bytes b nh EEPROM, 4K bytes SRAM, 52 chn vi mc ch vo ra thng thng, 32 thanh ghi lm vic vi mc ch thng thng, b m thi gian thc (RTC), 4 b Timer/Counter vi ch so snh v PWM, 2 USARTs, 8 knh ADC 10 bit vi kh nng la chn u vo v lp trnh c h s khuch i, Watchdog timer c kh nng lp trnh nh b to dao ng bn trong, giao tip SPI, b giao tip kim tra li theo chun IEEE 1149.1, ch dng debug h thng v chng trnh trn chip v kh nng la chn 6 ch tit kim nng lng. ch Idle ngng hot ng ca CPU trong khi cho php SRAM, Timer/Counter, cng SPI, h thng ngt tip tc gi hm, ch power-down tit kim lng thanh ghi nhng n nh cho xung giao ng, ko hot ng cc hm khc cho n khi c ngt tip theo hoc reset phn cng. ch power-save, Timer khng ng thi tip tc hot ng, m cho php ngi s dng dng mt Timer c s trong khi cc thit b ang ch ngh. Ch gim nhiu cho ADC ngng CPU v cc module vo ra ngoi tr timer v ADC, gim nhiu xung thp nht trong qu trnh bin i ADC. ch standby thch anh dao ng ang chy trong khi cc thit b khc ch ngh. ch standby m rng b dao ng chnh v timer khng ng b tip tc chy.

2.2 M t cc chn VCC : chn ngun +5V GND: chn t Port A Port B Port C

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Port D Port E Port F Port G Reset : dng reset li h thng XTAL1 v XTAL2 : l hai chn to dao ng ngoi khi ni vi thch anh AVCC l chn ngun cho cng F v dng bin i ADC. Khi kt ni vi VCC th qu trnh bin i ADC l chnh xc hn AREF l chn in p so snh phc v cho qu trnh bin i ADC PEN l chn enable cho ch giao tip SPI

19

Hnh 2.1 : S chn ca Atmega128

Hnh 2.2: S khi bn trong ca Atmega 128

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2.3 Kin trc tng quan ca Atmega128

Hnh 2.3 : Biu khi cu trc ca AVR

2.3.1 B nh ca Atmega128Atmega 128 cha 128 Kbytes chng trnh v c chu k ty xa l 10 000 ln. B m ca Atmega 128 l 16 bit. C th np chn trnh cho chip qua cng SPI, JTAG hoc cng song song Atmega 128 s dng kin trc Harvard vi b nh d liu v b nh chng trnh tch bit nhau. Hnh 3.4 minh ha phc tho kin trc bn trong ca b iu khin Atmega 128. Bus d liu dng cho b nh d liu l mt bus 8 bit, cho php

21

ni hu ht cc b phn ngoi vi vi tp thanh ghi. Bus d liu dng cho b nh chng trnh c rng 16 bit v ch ni vi thanh ghi lnh. B nh chng trnh l loi b nh Flash. B nh chng trnh c truy nhp theo tng chu k ng h, v mt lnh c np vo thanh ghi lnh. Thanh ghi lnh ni vi tp thanh ghi bng cch la chn xem thanh ghi no s c ALU s dng thc thi lnh. Li ra ca thanh ghi lnh c gii m bng b gii m lnh quyt nh chn tn hiu iu khin no s c kch hot hon tnh lnh hin ti. B nh SRAM bn trong c s dng cho ngn xp cng nh lu tr cc bin. Trong thi gian c ngt v gi on chng trnh, gi tr hin ti ca b m chng trnh c lu t trong ngn xp. V tr ca ngn xp c ch th bi con tr ngn xp.

Hnh 2.4 : nh dng b nh ca Atmega128 Atmega 128 cung cp hai cu hnh khac nhau cho b nh SRAM, c th s dng 4096 Bytes b nh ram trong hoc 64 k Bytes b nh ram ngoi

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Hnh 2.5 : Khng gian a ch b nh SRAM B nh d liu EEPROM ca Atmega 128 l 4k Bytes, vi chu k ty xa l 100 000 nghn ln. s truy nhp gia EEPROM v MCU c m t nh sau, n c ch r trong cc thanh ghi a ch, thanh ghi d liu v thanh ghi iu ca EEPROM.

2.3.2 Tp thanh ghi :Atmega 128 c 32 thanh ghi a chc nng. Mt s trong cc thanh ghi ny cn c cc chc nng ring, b sung . Cc thanh ghi ny c c t tn t R0 n R31.tt c cc lnh thao tc trn thanh ghi u c th truy nhp trc tip v truy nhp trong chu trnh n n tt c cc thanh ghi. Nhng mt ngoi l l cc lnh SBCI,

23

SUIB, CPI, ANDI v ORI cng nh WI, cc lnh nay ch tc ng n cc thanh ghi R16 n R31. Cc thanh ghi t R26 n R31 c cc chc nng b xung thanh ghi R0 c s dng trong cc lnh lp b nh chng trnh LPM, trong khi cc thanh ghi R26 n R31 c s dng lm cc thanh ghi con tr nh c minh ha trn hnh 2.6

Hnh 2.6: Tp thah ghi ca Atmega 128

2.3.3 Port (cng) vo raAtmega 128 c tt c l 7 Port t PortA n PortG. Tt c cc Port ca AVR u c tr treo bn trong v c la chn cho mi bit v c th c c-chnh saghi khi s dng nh mt Port xut nhp thng thng. iu ny c ngha l ng d liu ca cc chn s c thay i hng khng nh trc nu nh khng t lnh cho n. Mi b m u ra u c nhng tnh cht i xng cho vic nhp v xut d liu. Tt c cc chn u c in tr ko ln c lp khng thay i. Tt c u c bo v bng diode i vi c ngun v t

24

Hnh 2.7: S bn trong mi chn Port A : dng m rng b nh Ram ngoi bng sau m ta chc nng ca cc chn Port A Pin PA7 PA6 PA5 PA4 PA3 PA2 PA1 PA0 Chc nng AD7 (m rng b nh ngoi vi bit d liu l bit 7) AD6 (m rng b nh ngoi vi bit d liu l bit 6) AD5 (m rng b nh ngoi vi bit d liu l bit 5) AD4 (m rng b nh ngoi vi bit d liu l bit 4) AD3 (m rng b nh ngoi vi bit d liu l bit 3) AD2 (m rng b nh ngoi vi bit d liu l bit 2) AD1 (m rng b nh ngoi vi bit d liu l bit 1) AD0(m rng b nh ngoi vi bit d liu l bit 0) Port B : chc nng cc chn ca port B c trnh by di bng Pin PB7 PB6 PB5 PB4 PB3 PB2 PB1 PB0 Chc nng ca cc chn OC2/OC1C (u ra so snh v u ra ca PWM cho timer/counter2 hoc u ra so snh v PWM C ca timer/counter1 OCB1 (u ra so snh v PWM B ca timer/counter1) OC1A (u ra so snh v PWM A ca timer/counter1) OCO ( u ra so snh v PWM ca timer/counter0 MISO (bus giao tip SPI vo master hoc ra slave) MOSI ( bus giao tip SPI vo slave hoc ra master) SCK (quy nh tc ng h khi giao tip) ____ SS (chn SPI l slave hay master)

25

Port C : ngoi chc nng vo ra thng thng, Port C cn c thm chc nng m rng b nh ngoi chn Port C Pin PC7 PC6 PC5 PC4 PC3 PC2 PC1 PC0 Chc nng AD15 (m rng b nh ngoi vi bit d liu l bit 15) AD14 (m rng b nh ngoi vi bit d liu l bit 14) AD13 (m rng b nh ngoi vi bit d liu l bit 13) AD12 (m rng b nh ngoi vi bit d liu l bit 12) AD11 (m rng b nh ngoi vi bit d liu l bit 11) AD10 (m rng b nh ngoi vi bit d liu l bit 10) AD9 (m rng b nh ngoi vi bit d liu l bit 9) AD8(m rng b nh ngoi vi bit d liu l bit 8) Port D : ngoi chc nng vo ra thng thng, Port D cn c thm chc nng m rng b nh ngoi chn Port D Pin PD7 PD6 PD5 PD4 PD3 PD2 PD1 PD0 Chc nng T2 (u vo b m timer/counter2) T1 (u vo b m timer/counter1) XCK1 (dng khi giao tip USART1 cn dng b dao ng ring) ICP1 INT3/TXD1 (Ngt m rng hoc chn truyn tn hiu ca UART1) INT2/RXD1 (Ngt m rng hoc nhn tn hiu ca UART1) INT1/SDA (Ngt m rng hoc chn a ch ca giao tip I2C) INT0/SCL (Ngt m rng hoc chn a dao ng ca giao tip I2C) Port E : ngoi chc nng vo ra thng thng, Port E cn c thm chc nng m rng b nh ngoi chn Port E Pin PE7 PE6 PE5 PE4 PE3 PE2 PE1 PE0 Chc nng INT7/ICP3 (ngt ngoi hoc u vo Capture ca timer/counter3) INT6/T3 (ngt ngoi hoc u vo timer/counter3) INT5/OC3C (ngt ngoi hoc u ra PWM C ca timer/counter3) INT4/OC3B ( ngt ngoi hoc u ra PWM ca timer/counter3) AIN1/OC3A (u vo so snh tng t m v u ra PWM A ca timer/counter3) AINO/XCKO (u vo so snh tng t dng PDO/TXD0 ( chn truyn d liu ca UART0) PDI/RXD0 (chn nhn d liu ca UART0)

26

Port F : ngoi chc nng vo ra thng thng, Port F cn c thm chc nng m rng b nh ngoi chn Port F Pin PF7 PF6 PF5 PF4 PF3 PF2 PF1 PF0 Chc nng ADC7/TDI (u vo ADC knh 7 hoc kim tra d liu u vo ca JTAG) ADC6/TDO (u vo ADC knh 6 hoc kim tra d liu u ra ca JTAG) ADC5/TMS (u vo ADC knh 5 hoc chn ch cho JTAG) ADC4/TCK ( u vo ADC knh 4 hoc kim tra dao ng ca JTAG) ADC3 (u vo ADC knh 3) ADC2 (u vo ADC knh 2) ADC1 (u vo ADC knh 1) ADC0 (u vo ADC knh 0) Port G : ngoi chc nng vo ra thng thng, Port G cn c thm chc nng Chc nng TOSC1 (to xung dao ng ring cho b timer/counter0) TOSC2 (to xung dao ng ring cho b timer/counter0) ALE ( chn cho php cht a ch vi b nh m rng) ____ RD ( chn cho php c vi b nh ngoi)WR ( chn cho php ghi vi b nh ngoi)_____

m rng b nh ngoi chn Port G Pin PG4 PG3 PG2 PG1 PG0

2.3.4 Giao tip vi SRAM ngoiAtmega 128 c th m rng b nh ngoi ln 64k. Kh nng ny c minh ha trn hnh 2.8. cho php truy nhp b nh SRAM ngoi trn PORTA v PORTC

27

Hnh 2 .8: Giao tip vi b nh ngoi

2.3.5 Cu trc ngt ca Atmega 128Ngt l mt c cu iu khin dng lnh, c cu ny c thit k trn hu ht cc b iu khin. Trong qu trnh giao tip ca h thng b x l vi th gii bn ngoi, nhiu s vic xy ra theo cch khng ng b, chng hn ngi dng c th nhn mt cng tc thc hin mt cng vic no , trong khi mt byte d liu c th n cng ni tip. iu ny gy kh khn cho hot ng ca b x l khi m n phi kim tra tt c cc thit b gim st s di chuyn ca d liu. Ngc li mi vic s tr nn tt hn nu cc thit b ny c th loan bo s n ni ca d liu. y l tt c nhng g m c ch ngt phi thc hin. Thit b ngoi vi s ngt vic thc thi ca chng trnh chnh, v b x l tm ngng vic thc thi chng trnh chnh, v b x l tm ngng vic thc thi chng trnh bnh thng thm tra ngun ngt v thc hin cc thao tc p ng cn thit, vic thc thi chng trnh b ngt li tip tc. Chng trnh ngt ch gin ging ht nh mt chng trnh con (subrountine), ngoi tr mt c im l vic thc thi ca on chng trnh ngt ny khng b b x l on trc l s xut hin mt thi im c th no. B vi iu khin AVR c rt nhiu cu trc ngt sau y em ch trnh by v cc loi ngt m mnh s dng. a )Ngt (USART)

28

i vi mt loi vi iu khin s c nhiu vect ngt phc v cho chng trnh nh vect ngt ngoi, ngt ni tip, ngt nh thi. Sau y l cc nguyn nhn gy ngt ca AVR Reset : Chn ngoi, Preset, Brown-out reset v Watchdog reset INT0 : Ngt ngoi yu cu 0 INT1 : Ngt ngoi yu cu 1 Timer1 CAPT : Ngt do s kin m/nh thi 1 Timer1 COMPA : Ngt do t gi tr so snh A m/nh thi 1 Timer1 COMPB : Ngt do t gi tr so snh B m/nh thi 1 Timer1 OVF: Ngt do trn bm/nh thi 1 Timer0 OVF: Ngt do trn bm/nh thi 0 SPI,STC : Giao tip ni tip xong USART, RXC : Nhn ni tip xong USART, UDRE : Thanh ghi d liu ni tip rng USART, TXC : Truyn ni tip xong ANA_COMP : So snh tng t INT2 : Yu cu ngt ngoi 2 TIMER0 COMP : t gi tr m b m/nh thi 0 EE_RDY : EEPROM sn sng SPM_RDY : B nh chng trnh sn sng Trong chng trnh dnh cho mch giao tip c s dng n hai loi vect ngt l ngt do nh thi v ngt do ni tip. V vy, trong phn ny ch gii thiu hai loi vect ngt ny. b )Giao tip ni tip B truyn nhn ng b v khng ng b ni tip (USART) l mt thit b giao tip ni tip c tnh tng thch cao c cc tnh cht chnh: Chc nng kp (B truyn v nhn c lp)

29

Chc nng truyn ng b hoc khng ng b Chc nng xung ng b chnh v ph Cung cp nh dng ni tip vi 4,5,6 hoc 7 bits d liu v 1 hoc 2 bits stop To ra v kim tra c chn l bi phn cng Pht hin li trn Pht hin li dng d liu Chng nhiu bng bit start v b lc thng thp 3 vect ngt do truyn TX xong, thanh ghi truyn TX rng, nhn RX xong Ch truyn thng a x l Ch xung ng b gp i B to tc Baud nhiu gii php Ch tng gp i tc dao tip c )B m/nh thi TIMER/COUNTER0 l mt module m/nh thi 8-bits, n knh, a mc ch vi cc tnh cht sau B m n knh Xo timer khi t c gi tr so snh (T ng np li) Xung t do c t ng cha bi b iu ch rng chui xung (PWM) To tn s m s kin bn ngoi Bc m 10 bits Cung cp ngt khi t c gi tr so snh (T0V0 v 0CF0) Cho php to xung m rng t b dao ng thch anh ngoi 32 kHz

30

d ) B m/nh thi TIMER/COUNTER1 l b m/nh thi 16-bit thit k cho php chng trnh nh thi mt cch chnh xc (qun l s kin), to sng v m tn hiu thi gian vi cc tnh cht chnh nh sau: Thit k 16-bit thc ( v d cho php 16-bit PWM) Ba n v so snh ra c lp Gp i b m so snh ra Xo b nhiu u vo c pht hin Xo b m khi t gi tr so snh (T ng np li) Xung t do c t ng cha bi b iu ch rng chui xung (PWM) Khong PWM thay i To tn s m s kin bn ngoi ngun ngt c lp (TOV1, OCF1A, OCF1B, v ICF1)

2.3.6 B bin i A/D bn trongAtmega 128 cung cp b bin i tng t s vi phn gii 10 bit. Ngoi ra, bn cnh bn cnh b bin i ADC cn c mt b dn knh 8 ni vo, mi li c th c dn ring l ti b hin th ADC. B bin i ADC c s dng PORTF. N c kh nng kt hp 16 u vo in p khc nhau. Hai u vo khc l ( ADC0 vi ADC1 v ADC2 vi ADC3) l c th lp trnh c h s khuch i, n cung cp cc bc h s khuch i 0 dB(1x), 20 dB(10x) hoc 46 dB(200x) in p u vo khc nhau trc khi bin i A/D. Nu 1x hoc 10x c chn th nn chn phn gii l 8 bit cn nu 200x c chn thi phn gii nn l 7 bit. Hnh 2.9 biu din s khi ca b bin i A/D.

31

Hnh 2.9 : S khi ca b bin i A/D

2.3.7 B truyn/nhn UARTHnh 2.10 minh ha s khi ca b truyn/nhn UART. Vic truyn d liu c khi to bng cch ghi d liu vo thanh ghi d liu I/O USART, k hiu l UDR. D liu c truyn t UDR n thanh ghi dch truyn khi :

32

Hnh 2.10 : S khi ca b truyn/nhn UART Mt k t mi c ghi vo UDR sau khi bit stop t k t trc dch chuyn ra. Thanh ghi dich chuyn ra c np ngay lp tc. thi im ny bit UDRE trong thanh ghi trng thi USART, USR, c t khi bit ny t thnh 1, b USART sn sng nhn k t tip theo. Vo cng thi im khi d liu c truyn t UDR n thanh ghi dch b truyn 10 (11) bit, bit 0 ca thanh ghi dch b xa (start bit) v bit 9 (10) c t (stop bit). Nu nh mt d liu 9 bit c la chn (bit CHR9 trong thanh ghi iu khin USART, UCR c t), bit TXB8 trong thanh ghi UCR c truyn vo bit 9 trong thanh ghi dch b truyn. Theo nhp ca ng h tc baud s din ra cuc truyn n thanh ghi dch, bit start b dch chuyn ra chn TXD. Sau k tip l d liu, LSB trc tin. Khi bit stop c

33

dch chuyn ra, thanh ghi dich c np nu bt k d liu no c ghi vo thanh ghi UDR trong khong thi gian truyn. Trong thi gian np, bit UDRE c t thanh 1. Nu nh khng c d liu mi trong thanh ghi UDR truyn di khi bit stop c dch chuyn ra, c UDRE s gi nguyn trng thi c t cho n khi thanh ghi UDR c ghi mt ln na. Khi khng c d liu mi cn c ghi, v bit stop c mt trn TxD i vi mt chiu di bit, c TX complete, TXC, trong thanh ghi USR c t thnh 1. Khi bit ny c xa thnh 0, th chn PDI c th c s dng cho thao tc I/O chung. Khi t thnh 1, b truyn trong USART s c ni vi PDI, chn ny b bt buc tr thnh mt chn ni ra khng m xa g n vic t ca bit 1 trong DDRD. Mt k t mi c ghi vo UDR trc khi bit stop t k t trc c dch i. Thanh ghi dch c np khi bit stop ca k t ang c truyn c dich chuyn ra. Nu b truyn 10 (11) bit ang trng th th d liu c truyn UDR n thanh ghi dch.

2. 3.8 B nh thiB nh thi trong Atmega128 c chc nng ging nh mt b nh thi hoc mt b m. Ging nh mt b nh thi, tn hiu gi nhp bn trong hoc dn xut ca tn hiu gi nhp c s dng gi nhp b nh thi, trong khi ging nh mt b m, mt tn hiu t bn ngoi chn ca mt cng c s dng gi nhp b nh thi/b m. hnh 3.14 minh ha b dn knh (multiplexer), ng vai tr la chn mt trong nhiu ngun tn hiu ng h dng cho b timer/counter. B chia tn s dng cho c b timer/counter 0, timer/counter 1, v timer/counter 2 c minh ha trn hnh 2.11.

34

Hnh 2.11 : B dn knh S ca b timer/counter 0 8 bit c minh ha trn hnh 2.12

Hnh 2.12 : S ca b timer/counter0 8 bit

35

S ca b timer/counter 1 16 bit c biu din trn hnh 2.13

Hnh 2.13 : S ca b timer/counter1 16 bit S ca b timer/counter 2 8 bit c biu din trn hnh 2.14

Hnh 2.14 : S ca b timer/counter2 8bit

36

CHNG 3: M PHNG H THNG IU KHIN C THIT K DA TRN MNG NRON3.1 Thit k b iu khin PID-Neural c chnh nh thch nghi trng s ca mng3.1.1 Thut ton chnh nh trng sTrong phn ny s trnh by vic vn dng thut ton tng tc thch nghi vo vic chnh nh cc trng s wP , wI , wD ca b iu khin PID-Neural. Hnh 2.1 l s khi ca h thng iu khin vi b iu khin PID-Neural c chnh nh thch nghi trng s ca mng.. Hnh 2.2 l s b iu khin PID-Neural c chnh nh thch nghi trng s ca mng.

Hnh 3.1: H thng iu khin PID-Neural Mng nron c dng thit k b iu khin l mng 1 lp c 3 u vo. Mng ch c 1 nron v hm truyn ca nron l hm purelin. s ( x ) = x

37

Hnh 3.2: Neural network controller Theo thut ton Brandt-Lin, h thng trn c chia thnh 3 lp, 5 nt. Nt 11 l khu P c h s khuch i bng 1, nt 12 l khu I, nt 13 l khu D, nt 21 gm phn mng nron khng cha cc trng s i tng, nt 31 l i tng. Cc trng s l w11 , w 21 , w 31 , w11 . Hnh 2.3 m t s phn tch h thng theo thut ton3 Brandt-Lin. Trng s lin kt gia nt 21 v nt 31 l w11 bng hng s nn

2

2

2

3

3 3 & w11w11 = 0 . Do vy cng thc tnh cc trng s s cn l:

& w lij =- g

E l' l l - 1 Fi ( xij )yi ylj

Hnh 3.3: Phn tch h thng theo thut ton Brandt-Lin

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&2 w11 =

E 2' 2 F (x11 )e p 2 1 z1

1 1 2 E = e 2 = ( xm y ) 2 2

E E y y = = e 2 2 2 z1 y z1 z1 y chnh l o hm u ra ca i tng theo u vo. z12 & y y 1 y = = 2 & z12 t z12 z1 t Chuyn sang min Laplace: sY ( s ) Y ( s ) = = hm truyn i tng. sU ( s ) U ( s ) Do vy vi mt h ng hc n nh, c th xp x y v 1 hng s. Cc kt qu z12

m phng bng Matlab/Simulink v kt qu iu khin thc t cho thy s xp x ny khng nh hng xu n vic iu khin. Hng s ny c a vo trong h s bc hc nn sai lch trng s s l:

&2 w11 = e p eTnh ton tng t thu c:

&21 w 2 = eI e &2 w 31 = eD e3.1.2 Kt qu m phng Sau y l cc kt qu m phng b iu khin PID-Neural c chnh nh thch nghi trng s ca mng vi cc loi i tng v iu kin m phng khc nhau. Cc kt qu ny c so snh vi cc kt qu iu khin t b PID truyn

39

thng. Tn hiu mu l tn hiu mc 1.Cc m phng c thc hin bng Matlab/Simulink. a) i tng n nh i tng iu khin l i tng tuyn tnh n nh bc 2 c hm truyn G(s) l

G (s ) =

1

( s + 1) ( s + 5 )

B iu khin PID-Neural: B iu khin c h s thch nghi = 1 v cc trng s c gi tr ban u l

w121 = 1 .6 8 5, w 2 1 2M hnh iu khin:

2 = 6 5, w 2 1 .7 3

.

0 .4 3=7 8

Hnh 3.4: M hnh iu khin vi i tng n nh B iu khin PID truyn thng vi cc h s K P , TI , TD c tnh theo phng php hng s thi gian tng ca Kuhn: Hm truyn ca i tng c vit li nh sau:

G (s ) =

0.2 ( 1 + s ) ( 1 + 0.2 s )

40

T = 1 + 0.2 = 1.2 ( s ) KP = 2 = 10 ; TI = 0.8 *1.2 = 0.96 ; TD = 0.194 *1.2 = 0.2328 0.2

Kt qu m phng:

41

2 Hnh 3.5: (a) Tn hiu t v cc tn hiu u ra; (b)Trng s w11 ; 2 (c)Trng s w 2 ; (d) Trng s w 31 21

Nhn xt: So vi b PID truyn thng, b iu khin PID-Neural cho tn hiu u ra tt hn nhiu, khng c qu iu chnh, tc xc lp nhanh.

42

b) i tng c nhiu Nghin cu trng hp c nhiu, a vo h thng nhiu n trng c cng noise power =0.01 v nhiu c cng thm vo u vo ca i tng. i tng nghin cu khng i. B iu khin PID-Neural: B iu khin c h s thch nghi = 1 v cc trng s c gi tr ban u l2 w11 = 1.685, w 2 21 2 = 2.765, w31

. 0.4378 =

M hnh iu khin:

Hnh 3.6: Khi c nhiu B iu khin PID truyn thng vi cc h s K P , TI , TD c tnh theo phng php hng s thi gian tng ca Kuhn: Hm truyn ca i tng c vit li nh sau:

G (s ) =

0.2 ( 1 + s ) ( 1 + 0.2 s )

T = 1 + 0.2 = 1.2 ( s ) KP = 1 = 20 ; TI = 0.667 *1.2 = 0.8004 ; TD = 0.167 *1.2 = 0.2004 0.2

43

Kt qu m phng:

44

2 Hnh 3.7: (a) Tn hiu t v cc tn hiu u ra; (b)Trng s w11 ; 2 2 (c)Trng s w 21 ; (d) Trng s w 31

Nhn xt: Khi c nhiu b iu khin PID-Neural cho tn hiu u ra bm theo tn hiu t, khng c qu iu chnh trong khi b PID truyn thng c xy ra hin tng qu iu chnh.

45

c) i tng c tr to ra i tng c tr, ta thm vo 1 khu tr trc i tng iu khin. Thi gian tr l 0.2 giy. i tng iu khin c hm truyn l:

e0.2 s G ( s) = ( s + 1) ( s + 5)B iu khin PID-Neural:

3 B iu khin c h s thch nghi = 0. v cc trng s c gi tr ban u l2 2 2 w11 = 2.758, w 21 = 3.722, w31 = 0.8847 .

M hnh iu khin:

Hnh 3.8: i tng c tr B iu khin PID truyn thng vi cc h s K P , TI , TD c tnh theo phng php hng s thi gian tng ca Kuhn: Hm truyn ca i tng c vit li nh sau:

G (s ) =

0.2e0.2 s ( 1 + s ) ( 1 + 0.2 s )

T = 1 + 0.2 + 0.2 = 1.4 ( s ) ; KP = 2 = 10 ; TI = 0.8 *1.4 = 1.12 ; TD = 0.194 *1.4 = 0.2716 0.2

46

Kt qu m phng:

47

2 Hnh 3.9: (a) Tn hiu t v cc tn hiu u ra; (b)Trng s w11 ; 2 2 (c)Trng s w 21 ; (d) Trng s w 31

Nhn xt: Vi i tng c tr, tn hiu ra ca h thng b iu khin PID-Neural tt hn so vi b iu khin PID truyn thng, c xy ra qu iu chnh nhng rt nh.

48

d) i tng c thnh phn tch phn i tng c thnh phn tch phn c s dng l i tng c hm truyn sau:G(s) = 1 s ( s + 1) ( s + 5 )

H s thch nghi khng i vn bng 0.003. Cc trng s c gi tr ban u l:2 2 2 w11 = 5.1170, w 21 = 0.42, w31 = 0.52

M hnh iu khin:

Hnh 3.10: i tng c thnh phn tch phn

49

Kt qu m phng:

50

2 2 Hnh 3.11: (a) Tn hiu t v tn hiu u ra; (b)Trng s w11 ; (c)Trng s w 21 ; (d) 2 Trng s w 31

Nhn xt: Vi i tng c thnh phn tch phn, cht lng tn hiu u ra ca h thng khng c tt, qu iu chnh ln, thi gian xc lp di. Nguyn nhn l do vi i tng c thnh phn tch phn, o hm ca i tng khng th xp x v hng s v i tng khng n nh.

51

e) i tng phi tuyn i tng phi tuyn c s dng c hm truyn nh sau:

& y = 7. y + sin ( y ) + y 2 + uH s thch nghi bng 0.5. Cc trng s c gi tr ban u l:2 2 2 w11 = 0, w 21 = 0, w31 = 0

Vic m phng c thc hin bng M-file. Kt qu m phng:

52

53

2 Hnh 3.12: (a) Tn hiu t v tn hiu u ra; (b)Trng s w11 ; 2 2 (c)Trng s w 21 ; (d) Trng s w 31

54

Nhn xt: Vi i tng phi tuyn, s dng b iu khin PID truyn thng th cn phi tuyn tnh ha i tng. Cng vic ny to ra cht lng iu khin khng cao do s sai lch gia i tng thc v i tng sau khi tuyn tnh ha. Nhng vi b iu khin PID-Neural, cht lng tn hiu u ra ca h thng rt tt, thi gian xc lp ngn, khng xy ra hin tng qu iu chnh.

3.2 Thit k b iu khin s dng sai lch lm u vo3.2.1 Thut ton chnh nh trng s Mng nron c coi l mt b nh nhng l b nh ngn hn nn cn a cc d liu trong qu kh lm u vo ca mng nron tng chnh xc ca u ra. S lng cc tn hiu trong qu kh l ty . y ta chn 1 sai lch hin ti v 2 sai lch trong qu kh. i tng iu khin xt y l i tng tuyn tnh v n nh. Hnh 3.13 l s khi m hnh iu khin vi 3 u vo chn.

Hnh 3.13: S khi h thng iu khin Hnh 3.14 m t cu to b iu khin da trn mng nron. Mng nron c chn l mng 2 lp c 3 u vo v 1 u ra. Lp u vo c 3 nron, lp u ra c 1

55

nron. Hm truyn ca 3 nron lp u vo l hm logsig y = 1 ( x ) = truyn ca nron lp u ra l hm tuyn tnh (purelin) y = 2 ( x ) = x .

1 , hm 1 + e x

Hnh 3.14: Mng nron 2 lp H thng iu khin trn c chia thnh 4 lp v 8 nt. Nt 11 l khu c h s khuch i bng 1, nt 12 l khu tr th nht, nt 13 l khu tr th 2, nt 21, 22, 23, 31 ln lt l phn nron 1,2,3,4 khng cha cc trng s. Nt 41 l i tng. Cc trng s lin kt l2 2 2 3 3 4 Hnh w11, w 2 , w 2 , w 12, w 2 , w 2 , w 13, w 2 , w 2 , w. 11, w 21, w 11 21 31 22 32 23 33

3.15 m t s phn tch h thng iu khin.

56

Hnh 3.15: Phn tch h thng iu khin Tnh ton mng nron:2 2 2 s12 = w11 .e1 + w 21 .e2 + w 31 .e3 v z12 = 1 ( s12 ) 2 2 2 2 2 2 s2 = w12 .e1 + w 22 .e2 + w 32 .e3 v z2 = 1 ( s2 ) 2 2 2 2 2 2 s3 = w13 .e1 + w 23 .e2 + w 33 .e3 v z3 = 1 ( s3 ) 3 2 2 s13 = w11 .z12 + w 3 .z2 + w 3 .z3 v u = s13 21 31

Hun luyn mng:2 2 & w 11 = s 1' ( s1 )

e1 3 3 E 2 & w 11 w 11- gs 1' ( s1 ) e1 2 2 z1 z1

' 2 2 2 2 2 m: s 1 ( s1 ) = s1 ( s1 ) s 1 ( - s1 ) = z1s 1 ( s1 )

1 1 2 E = e2 = ( xm - y ) 2 2

57

E E y u 3 = =- eb w 11 (do theo bin lun trn vi i tng tuyn tnh n 2 2 z1 y u z1nh th o hm ca i tng c th xp x v 1 hng s) Hng s b c a vo trong hng s thch nghi g .2 2 2 & w 11 = z1s 1( s1 )

e1 3 3 2 2 3 & w 11 w 11- gz1s 1( s1 ) e1( - e w 11) 2 z1

2 3 3 2 & = s 1( s1 ) e1 w 11( w 11+ gz1e)

Tng t nh trn:2 3 3 2 & & w 2 = s 1( s1 ) e2 w 11( w 11+ gz1e) 21 2 3 3 2 &31 & w 2 = s 1( s1 ) e3 w 11( w 11+ gz1e) 2 2 3 3 2 & & w 12 = s 1( s2) e1 w 21( w 21+ gz2e) 3 3 2 & & w 2 = s 1( s2) e2 w 21( w 21+ gz2e) 22 2 2 3 3 2 &32 & w 2 = s 1( s2) e3 w 21( w 21+ gz2e) 3 3 2 &13 & w 2 = s 1( s2 ) e1 w 31( w 31+ gz3e) 3 3 3 2 &23 & w 2 = s1( s2 ) e2 w 31( w 31+ gz3e) 3 3 3 2 & & w 2 = s 1( s2 ) e3 w 31( w 31+ gz3e) 33 3

4 & n Do w 11 = co st2 &11 w 3 = 0- g.1.z1 2 &21 w 3 = gz2e 2 &31 w 3 = gz3e

nn:

E 2 = gz1e u

M hnh mng nron ca b iu khin cng vi cc thut ton hc c din gii trn c trnh by bng Matlab/Simulink hnh 3.16.

58

Hnh 3.16: Cu trc b iu khin ANN v thut ton hc.

3.2.2 Kt qu m phngSau y l cc kt qu m phng b iu khin da trn mng nron c trnh by trn vi cc loi i tng v iu kin m phng khc nhau. Tn hiu mu l tn hiu mc 1. Cc m phng c thc hin bng Matlab/ Simulink. a) i tng n nh i tng iu khin l i tng tuyn tnh n nh bc 2 c hm truyn G(s) l

59

G (s ) =H

1

( s + 1) ( s + 5 )thch nghi l

s

= 3.

Cc

trng

s

ban

u

l:

w1 = 0;w2 = 0;w3 = 0;w4 = 0; w5 = 0;w6 = 0;w7 = 0;w8 = 0; w9 = 0;w10 = 0;w11 = 0;w12 = 0;M hnh iu khin:

Hnh 3.17: i tng bc 2 n nh

60

Tn hiu u ra:

Hnh 3.18: Tn hiu u ra v tn hiu t vi i tng n nh Nhn xt: Tn hiu u ra rt tt. D l i tng bc 2 nhng khng xy ra hin tng qu iu chnh hay dao ng. b) i tng c nhiu Nhiu c s dng l nhiu n trng c cng noise power = 0.01. i tng nghin cu v h s thch nghi khng i. Cc trng s ban u l:

w1 = 0;w2 = 0;w3 = 0;w4 = 0; w5 = 0;w6 = 0;w7 = 0;w8 = 0; w9 = 0;w10 = 0;w11 = 0;w12 = 0;

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M hnh iu khin:

Hnh 3.19: i tng c nhiu Tn hiu u ra:

Hnh 3.20: Tn hiu u ra v tn hiu t trong trng hp c nhiu Nhn xt: nh hng ca nhiu ch c tc ng nh n cht lng h thng

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d) i tng c tr Thi gian tr l 0.4 giy. i tng iu khin khng i. H s thch nghi l 2. Cc trng s ban u l:

w1 = 0;w2 = 0;w3 = 0;w4 = 0; w5 = 0;w6 = 0;w7 = 0;w8 = 0; w9 = 0;w10 = 0;w11 = 0;w12 = 0;M hnh iu khin:

Hnh 3.21: i tng c tr Tn hiu u ra:

Hnh 3.22: Tn hiu u ra v tn hiu t trong trng hp c nhiu

63

Nhn xt: Sai lch gim dn theo qu trnh hc ca mng nron. c) i tng c thnh phn tch phn i tng c thnh phn tch phn c s dng l i tng c hm truyn sau:G(s) = 1 s ( s + 1) ( s + 5 )

H s thch nghi bng 0.1. Cc trng s c gi tr ban u l:

w1 =- 07093;w2 =- 034;w3 = 04476;w4 = 15; . . . . w5 = 1308;w6 = 07324;w7 = 1278;w8 = 1243; . . . . w9 = 1162;w10 =- 1605;w11 = 09184;w12 = 06863; . . . .M hnh iu khin:

Hnh 2.22: i tng c thnh phn tch phn

64

Tn hiu u ra:

Hnh 2.23: Tn hiu u ra v tn hiu t vi i tng c thnh phn tch phn Nhn xt: Vi i tng c thnh phn tch phn, vic la chn b iu khin theo m hnh ny s cho tn hiu u ra tt hn nhiu so vi b iu khin PID-Neural, qu iu chnh nh, thi gian xc lp nhanh, sai lch tnh b. e) i tng phi tuyn i tng phi tuyn c s dng c hm truyn nh sau:

& y = 7. y + sin ( y ) + y 2 + uH s thch nghi bng 0.1. Cc trng s c gi tr ban u l:

w1 = 0;w2 = 0;w3 = 0;w4 = 0; w5 = 0;w6 = 0;w7 = 0;w8 = 0; w9 = 0;w10 = 0;w11 = 0;w12 = 0;Vic m phng c thc hin bng M-file.

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Tn hiu u ra:

Hnh 2.24: Tn hiu u ra v tn hiu t vi i tng phi tuyn Nhn xt: Vi i tng phi tuyn, vic la chn b iu khin theo m hnh ny s cho tn hiu u ra tt hn b iu khin PID-Neural,thi gian xc lp nhanh hn.

66

CHNG 4 : NG DNG IU KHIN I TNG THC

4.1 ng c in mt chiu4.1.1. Cu to ca ng c mt chiung c in mt chiu gm c 3 thnh phn c bn : Stato ca ng c l mt nam chm vnh cu, cun dy phn ng lp trn Roto v cp chi than. Nguyn l hot ng ca ng c mt chiu c th trnh by tm tt nh sau: t trng c nh sinh ra bi nam chm vnh cu gn trn stato gy ra lc tc dng ln cun dy trn r to khi cun dy c dng in chy qua (nh lut Ampe). Lc t sinh ra m men tc dng ln r to . M men ny biu din theo phng trnh : Tm = Ke . . Ie . sin Trong : Te = m men ng c Ke = h s ng c = mt dng t Ie = dng in phn ng = gc gia vect t trng c nh

67

Hnh 4.1: Mt ng c mt chiu thng thng T cng thc trn c th thy momen trn trc ng c tng dn t = 0 o v t ln nht khi = 90o. Tc l khi = 90o, vect t trng c nh vung gc vi vect dng phn ng th momen trn trc ng c l ln nht v khi = 0 o, vect dng phn ng song song vi vect t trng c nh, momen trn trc l b nht. m bo momen trn trc ng c lun t c gi tr ln nht cn thit ngi ta b tr khng phi mt vng dy m rt nhiu vng dy t k tip nhau trn ng trn. Nh vy ti mi thi im bt k lun tn ti mt vng dy c lc t tc dng ln n l cc i. Do Roto ca ng c quay nn dng in mt chiu c a vo cc cun dy thng qua chi than c nh qut trn cc cun dy. Cng v l do ny m loi ng c ny c gi l ng c c chi than .

68

Hnh 4.2: Nguyn l hot ng ng c mt chiu Trong ng c mt chiu cn ch nht 2 thng s: momen v tc ca ng c. Momen v tc ca ng c DC c th m t bng hai phng trnh sau: Tdc = Km . Iu Eb = Kb . w Trong : Tdc = momen t n v Nm Iu = dng in trong cun dy phn ng n v A Eb = in p phn in V Km = h s momen n v kgm/A Kb = h s in n v V/vng.pht w = vn tc quay ca ng c vng/pht T 2 phng trnh trn c th thy: Momen ca ng c t l vi dng in, tuy nhin do sc phn in t l vi vn tc m sc phn in lm gim dng in nn khng th duy tr ng c vi tc cao v momen ln c .

4.1.2. Encoder gn trn ng c mt chiuEncoder gm mt mt pht v mt mt thu. Gia mt pht v mt thu l mt a trn c khc vch. a trn c gn ln trc ng c. Khi a chn mt tn hiu gia mt pht v mt thu th tn hiu ra c mc logic 1. Khi a khng chn tin hiu

69

gia mt pht v mt thu th tn hiu ra c mc logic 0. ng c quay cng s lm a quay theo vi cng tc . V trn a c khc 200 vch, cho nn khi ng c quay c 1 vng s to ra 200 xung. Vi iu khin m s xung ny s bit c tc ng c.

V

C

C V

C

C

R

R V X L

R D 4 L E D

1

E

n

c

o d

e r 2

0

3

4

0

0

Hnh 4.3: Cu to ca encoder Gi thit: S xung m c trong 1s l: n S vch khc trn a l: no Tc ng c l: v (vng/pht) Ta s cv= 60.n n0

4.1.3. ng c s dng th nghimLoi ng c s dng l Encoder gn lun trn ui ca ng c. Encoder c 5 u ra, hai dy t, mt dy ngun, hai dy phase A v B. phn gii ca Encoder l 200 xung. tng chnh xc trong vic o tc v ta s dng c hai pha ca encoder m sn ln v xung ca hai phase A v phase B ta c chnh xc tng gp 8 ln. y l loi ng c mt chiu 24V c tc ti a l 2000v/p.

70

Encoder

Hnh 4.4: ng c in mt chiu ng c

4.2. Thit k b iu khin trn nn vi iu khin Atmega 128

Driver My Tnh Atmega 128 iu khin ng c

LCD

Bn Phm

Hnh 4.5: S khi ca b iu khin.

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4.2.1. Khi iu khin trung tmKhi iu khin trung tm s dng vi iu khin Atmega 128 c m rng b nh sram ngoi, 64K bytes. Cng com giao tip vi my tnh theo chun RS232, giao tip vi LCD. Cng np ngay trn khi iu khin trung tm theo chun Jtag. Cc cng vo ra dng iu khin ng c v nhn tn hiu ca encoder.VCC R1 10K LCD LCD LCD 1 2 3 _ R 4S _ R 5W _EN 6 7 8 9 10 _ D1 4 1 _ D1 5 2 _ D1 6 3 _ D1 7 4 15 16 LCD1 V SS VDD V EE RS RW EN D0 D1 D2 D3 D4 D5 D6 D7 A K

LC LC LC LC

D D D D

VCC VCC C1 C2 0 .1 u F 0 .1 u F 0 .1 u F C3 VCC

KHOI LCDJ1 1 6 2 7 3 8 4 9 5 RX IC 2 13 8 11 10 1 3 2 12 1 OUT 9 2 OUT 14 1 OUT 7 2 OUT 4 C2+ 5 C2 6 VVCC C7 1 0uF 11 10

VCC P1 2 1 H ea de r 2 P2 2 1 H ea de r 2 P3 2 1 H ea de r 2 P4 2 1 H ea de r 2 P5 2 1 H ea de r 2 P6 2 1 H ea de r 2 P8 2 1 H ea de r 2 PB7 PEN PB5 PB6 PB3 PB4 LED 0 1K PB1 PB2 D1 10K PE 3 PB 0 PF2 PF3 RB1 9 8 7 6 5 4 3 2 1 VCC R2 D D D D D D D D 7 6 5 4 3 2 1 0 PF0 PF1 PF0 PF1 PF2 PF3 TC K TM S TD O TD I 61 60 59 58 57 56 55 54 P P P P P P P P F0 F1 F2 F3 F4 F5 F6 F7 U1 A TM E G A 128 51 (A D 0 ) P A 0 50 (A D 1 ) P A 1 49 (A D 2 ) P A 2 48 (A D 3 ) P A 3 47 T AC DK 4) ) P A 4 ( 46 T AMD S5 ) ) P A 5 ( 45 T AD DO 6 ) ) P A 6 ( 44 T AD DI )7 ) P A 7 ( 43 (A L E ) P G 2 21 52 (A (A (A (A (A (A (A (A D D D D D D D D C C C C C C C C 0) 1) 2) 3) 4 / 5 / 6 / 7 / VCC VCC 62 AREF 63 AGND 64 AVCC 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 P P P P P P P P P P P P P P P P E E E E E E E E B B B B B B B B 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 D D D D D D D D A A A A A A A A A 0 1 2 3 4 5 6 7 LE 8 9 10 11 12 13 14 15 IC 1 1 OC A LE 11 C D D D D D D D D 0 1 2 3 4 5 6 7 2 3 4 5 6 7 8 9 1D 2D 3D 4D 5D 6D 7D 8D 74H C 573 1Q 2Q 3Q 4Q 5Q 6Q 7Q 8Q 19 18 17 16 15 14 13 12 A A A A A A A A 0 1 2 3 4 5 6 7

TX

C4 10uF

R 1 IN R 2 IN T 1 IN T 2 IN C 1+ C1 V+ M A X232

R R T T

C5 10 uF

VCC LC D _R S LC D _R W LC D _E N PE 3 LC D _D 4 LC D _D 5 LC D _D 6 LC D _D 7 P P P P P P P P B0 B1 B2 B3 B4 B5 B6 B7

35 (A 8 ) P C 0 36 (A 9 ) P C 1 37 (A 1 0 ) P C 2 38 ( P D I / R X( D 0 1 ) P C 3 A 1) 39 ( P D O / T XAD1 02 )) P C 4 ( 40 ( A C + / X CAK1 03 )) P C 5 ( 41 ( A C - / O C( A A 4) ) P C 6 31 42 ( I N T 4 / O (C 31 B5 ) P C 7 A (IN T 5 / O C 3 C ) 34 ( I N T 6 / T 3R D ) P G 1 () 33 ( I N T 7 / I C( W ) R ) P G 0 3

C6 1 0uF VCC

C8 0 .1 u F

RD W R JT A G 1 TCK TDO TM S IC 3 VCC VCC C9 0 .1 u F Y1 C10 22 pF 16M H z C11 22pF A A A A A A A A A A A A A A A 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 10 9 8 7 6 5 4 3 25 24 21 23 2 26 1 A A A A A A A A A A A A A A A 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 VCC 28 P7 IC 4 D D D D D D D D 0 1 2 3 4 5 6 7 11 12 13 15 16 17 18 19 D D D D D D D D 0 1 2 3 4 5 6 7 A A A A A A A A A A A A A A A 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 10 9 8 7 6 5 4 3 25 24 21 23 2 26 1 A A A A A A A A A A A A A A A 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 VCC VCC 28 PD0 PD1 1 2 H eader 2 P9 D D D D D D D D 0 1 2 3 4 5 6 7 11 12 13 15 16 17 18 19 D D D D D D D D 0 1 2 3 4 5 6 7 PD4 PD5 1 2 H eader 2 P 10 PD6 PD7 1 2 H eader 2 TDI VCC 1 2 3 4 5 6 7 8 9 10 VCC

25 PD0 ( S S )( I N T 0 / S C L ) P D O 26 PD1 ( S C K( I) N T 1 / S D A ) P D 1 27 RX ( M O ( S N) T 2 / R X D 1 ) P D 2 II 28 TX ( M I S( ON) T 3 / T X D 1 ) P D 3 I 29 PD4 (O C 0 ) (IC 1 ) P D 4 30 PD5 (O C 1 A )(X C K 1 ) P D 5 31 PD6 (O C 1 B ) (T 1 ) P D 6 32 PD7 ( O C 2 / O C( T C ) P D 7 12 23 XTAL2

1 PEN 20 R E SET

19 P G 4 (T O S C 1 ) 18 24 P G 3 (T O S C 2 ) X T A L 1 GND GND 53 22

RESET R3 1 0K D2 1N 4148 C12 + 10uF

RD W R A 15

22 OE 27 W E 20 CS 6 2C 256

GND

14

VCC

RD W R A15

22 OE 27 W E 20 CS 62C 256

GND

14

P11 2 1 H e ad er 2 V1

D3 V2 +C 1 3 C 14 1 0uF 1 00uF 1 1 N 4001

U2 IN O U T GND 7805 2 3

VCC

R4 1K

+C 15 10 uF

DS1 LED0

Hnh 4.6: S nguyn l mch iu khin trung tm

72

4.2.2. Giao tip vi LCD

VCC R1 10K 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

LCD1 VSS VDD VEE RS RW EN D0 D1 D2 D3 D4 D5 D6 D7 A K

LCD_RS LCD_RW LCD_EN

LCD_D4 LCD_D5 LCD_D6 LCD_D7

Hnh 4.7: S mch LCD iu khin LCD ta dng Port E ca Atmega128. Kiu truyn d liu y ta chuyn 4 bit mt, ta s dng cc bit d liu D4, D5, D6, D7 ca LCD. Bin tr dng iu chnh tng phn cho LCD. Do Atmega 128 c cc hm c sn dng cho LCD nn rt tin cho ngi dng trong vic lp trnh. Mt s hm vit cho LCD c sn trong Atmega 128 void _lcd_ready(void); // hm sn sng cho LCD void _lcd_write_data(unsigned char data); // ghi mt byte d liu ln LCD // ghi mt byte k t n LCD hoc vo RAM void lcd_write_byte(unsigned char addr, unsigned char data); // c mt byte k t t LCD hoc t RAM unsigned char lcd_read_byte(unsigned char addr); // dch chuyn con tr n hng x ct y void lcd_gotoxy(unsigned char x, unsigned char y); // xa LCD void lcd_clear(void);

73

void lcd_putchar(char c); // ghi mt chui k t t trong RAM ti LCD void lcd_puts(char *str); // ghi mt chui k t t b nh FLASH ti LCD void lcd_putsf(char flash *str); // khi to cho LCD unsigned char lcd_init(unsigned char lcd_columns);

4.2.3. Phng thc truyn nhn d liu qua RS232 trn PC4.2.3.1 Cu trc vt l ca cng RS232

Hnh 4.8: Cng c

Hnh 4.9: Cng ci

74

Hnh 4.10 : Kch thc ca cng COM Trong my tnh cng COM ca my l cng ni tip theo chun RS232 Chn Tn gi 3 TD (Transmit 2 7 8 6 5 4 1 9 Truyn d liu RD (Receive Mc ch data) Truyn d liu n mt thit b khc data) Nhn d liu t mt thit b khc

Nhn d liu RTS (Request to send) Cho bit l thit b sn sng truyn d Yu cu truyn d liu liu ra CTS (Clear to send ) Cho bit thit b sn sng nhn d liu. DSR (Data set ready) Cho bit thit b nhn d liu c kt ni v sn sng nhn d liu GND (Signal ground) Xc nh c hai thit b u s dng cng mt hiu in th cho truyn d liu. DTR (Data terminal Cho bit l thit b u cui ( DTE ) sn ready) DCD (Data sng cho vic s dng Carrier Tch tn hiu mang d liu Bo chung

Detect) RI (Ring Indicator )

Bng 4.1: Chc nng ca cc chn cng RS232 4.2.3.2 Qu trnh truyn v nhn d liu ca cng COM ca PC Truyn d liu l qu trnh a d liu ra cng ni tip t my tnh. Khi my tnh mun truyn mt byte d liu ra cng truyn ra cp bn ngoi, my tnh s

75

gi byte ny trn bus d liu bn trong my tnh. ra ti a ch vo ra ca cng COM. Cng COM s gi byte ny, v gi n ra ngoi tng bit mt (dng truyn bit d liu) qua chn truyn ca cng. Byte ny c a vo mt thanh ghi dch bn trong cng. Cc bit trn thanh ghi cng ny c ly tng byte mt v c truyn tng bit mt trn ng truyn ni tip. Khi bit cui cng c truyn i th thanh ghi dch cn byte khc truyn th n c th yu cu CPU gi cho n mt byte khc. Cng vic c v nh n gin, song n yu cu phi c thi gian tr bi v CPU khng th a ra byte ngay lp tc do n cn phi lm mt s cng vic khc khng th ch c vic qun l cng COM. C mt cch gii quyt vic tr thi gian ny l sp xp li mi th cho CPU gi byte vo b m ca cng COM(trong phn cng) trc khi thanh ghi dch cn n. Nh vy khi thanh ghi dch truyn byte ca n ra ngoi v ang cn mt byte mi th phn cng ca cng COM chuyn byte tip theo t b m ca n cho thanh ghi dch m khng cn gi CPU pht lnh truyn mt byte mi. Kch thc ca b m (phn cng) ca cng COM trc y ch l mt byte, nhng hin nay thng thng c 16 byte. Hin ny vn tn ti vn v gi b m cung cp y byte khi thanh ghi dch cn byte truyn n s lun tm thy (tr khi khng c byte no gi i na). iu ny c thc hin bng vic kt ni vi CPU bng vic s dng ngt. Ngt y c th hiu l s dng cng vic ang thc hin thc hin mt cng vic v tr khc, v s tr li lm cng vic ny sau khi hon thnh cng vic ngt. y c th xem cng vic ca ngt l qu trnh cung cp d liu cho b m ca cng COM. CPU khi c ngt gi s tm dng cng vic m n ang lm cung cp d liu cho b m cng COM. Sau khi cung cp xong d liu th n s tr li cng vic ca n. Vi trng hp ca cng COM c vi 8 bit trong b m. Khi thanh ghi dch ly byte ra khi b m v n yu cu mt byte khc. Lc ny n s gi ngt ti CPU bng cch a mt in p ln dy chc nng chuyn dng ln bus ca my tnh. Tr khi CPU ang lm mt cng vic g cc k quan trng m khng cho php ngt ny c thc hin, cn trong cc trng hp cn li th ngt s tc ng n CPU n

76

dng cng vic ang thc hin v bt u thc hin mt chng trnh dng cung cp mt byte khc cho b m ca cng COM. Mc ch ca b m ny l d mt byte d tr trong hng i (tr truyn) trong phn cng khng b trng trong qu trnh truyn cc byte d liu ra cp ca cng COM. i vi CPU, mt khi nhn c ngt, n s bit ai gi ngt cho n v c mt dy ngt c th cho mi cng COM (tr khi cc ngt b chia s). Tip CPU s chy thit b ni tip kim tra a ch ca cng gi ngt. N s thy b m ca cng ny b trng v ang i mt byte gi vo. V vy nu c byte gi th n s chuyn byte k tip truyn vo trong b m. Byte s c k tip c th c a vo b m trong khi byte trc n ang trong thanh ghi dch truyn d liu v ang trong qu trnh truyn d liu tng bit mt. Tm li khi mt byte truyn hon ton ra ng truyn ca cng COM v thanh ghi dch ang trng th s c 3 vn xy ra gn nh l ng thi: Byte k tip s c chuyn t b m truyn ca cng COM vo thanh ghi dch truyn d liu.Qu trnh truyn d liu tng bit mt ca byte mi bt u Mt ngt khc c pht ra bo cho cho thit b bit gi mt byte khc ti b m hin thi ang trng. V vy c th coi cng COM l mt thit b hot ng c ngt. Mi khi cng COM pht ra mt ngt th CPU s truyn cho n mt byte khc. Mt khi mt byte c gi ti b m bi CPU, CPU s tip tc t do thc hin hng ng khc cho ti khi n nhn c mt ngt khc. Cng COM s truyn d liu cc bit vi tc thch hp vi tc c chn bi ngi s dng (hoc mt trnh ng dng no ). Tc ny c gi l baudrate. Ngoi ra cng COM cng thm cc bit nh bit start, stop, i khi c parity v vy thng c ti 1 bit c gi trong mi byte d liu. tc 19200 bps s c 1920 byte/sec (v cng c ti 1920 ngt/sec). thc hin tt c cc cng vic ny th CPU phi lm rt nhiu vic. u tin l gi 8 byte 8 bit trong mt ln trong khi bus d liu ca my tnh l 32 bit (hoc c th ln ti 64 bit). Vic ny khng s dng hiu qu rng ca bit d liu. Tip l c qu nhiu cc ngt cn x l v vic x l cc ngt cng yu cu

77

nhiu vic. Khi mt ngt c nhn vo, thit b iu khin ch bit l c ngt cng m khng bit l ngt yu cu thm k t vo ch k t c truyn i. Thit b iu khin phi lm rt nhiu s kim tra pht hin ra ci g xy ra dn n ngt. Bi khi mt k t c nhn cng c cng ngt nh vy cng thm ng iu khin thay i trng thiVi tc truyn chm th vic c b m nhn 1 byte khng l vn g nhng khi tc cao hn th s c th n n vic CPU khng th thc hin cng vic ca UART ng lc gy ra s ghi d liu (trong khi nhn d liu) gy ra cc li overrun hay overflow. Mt s tin b ln l tng dung lng b m ca cng COM t 1 byte ln ti 16 byte. iu ny ngha l khi CPU nhn c ngt n c th a vo b m ti 16 byte tip truyn. N lm cho ngt t hn lm cc cng vic khc trong khi d liu vn c gi tng byte trn mt rng bit. Vi 16 byte khng nhng b m c th i nhiu byte hn m c th nhn ti 16 byte mt lc. B m 16 byte thc s l mt hng i kiu FIFO (First In First Out)- vo trc ra trc. application program 8k-byte buffer 16-byte buffer 1k-byte buffer teleline BROWSER ------- MEMORY -------- FIFO --------- MODEM -------- phone Qu trnh nhn d liu t cc byte bi cng COM cng ging nh vic truyn chng ch khc l c chiu ngc li. N cng cn gi ngt. Vi loi cng COM kiu c, khi mt byte c nhn y . t cp bn ngoi n c c chuyn vo b m nhn 1 byte. Tip cng s a cho CPU mt ngt bo rng n nhn c mt byte yu cu ly byte i n c th c ch trng cho byte tip theo ang c nhn v. Vi cng COM mi th ngt s c a ra khi c ti 14 byte c nhn vo trong b m. Khi CPU s thc hin vic ly 14 hoc 16 byte ra khi b m. Trong qu trnh thc hin ngt c th c thm 2 byte na c nhn vo trong b m. Nu nh c ti 3 byte c a vo trong thi gian ny th s gy ra li Overrun. chc chn khng xy ra li ny, c th pht tn hiu gi ngt khi b m c t hn 14 byte. Vic t bao nhiu phn trm b m th pht tn hiu ngt cho

78

CPU ly d liu ra ty thuc vo ngi phn mm bn trong. Nu t 1 byte th n s hot ng nh cng COM kiu c (tr trng hp trong b m c 15 byte y). Ti sao b m FIFO li nh nh vy, ti sao khng lm n ln. L do c phi l do gi lm b nh t hay khng? y chc chn s l thc mc i vi ngi bit v cu trc ca b m FIFO. Cu tr li l khng phi bi v gi b nh rt r nn khng c vn g v gi khi tng b m ny ln kilobyte. Vn y chnh l do vic iu khin ng truyn trong qu trnh truyn nhn d liu. Ch iu khin ng truyn c th lm dng li dng chy ca d liu trn ng truyn ni tip khi thy cn thit. Nu mt tn hiu stop c ra cng COM, tip vic yu cu dng li c gi bi ch Software phn cng ca cng COM khng bit v iu khin ng truyn. Nu b m ca cng COM cha 64 byte sn sng truyn i khi n nhn tn hiu iu khin ng truyn dng qu trnh truyn li, n s gi 64 byte ra mt cch ln xn trong khi b bt dng li. S khng c s dng li qu trnh gi v n khng bit v ch iu khin ny. Nu nh b m ln hn th s c nhiu byte hn b gi trong khi b yu cu bt buc dng ca ch iu khin ng truyn. Mc d khng cho b m truyn phn cng ln nhng trong ch truyn thng ni tip cng c cc b m ni tip ln hn 16 byte. l cc b m c ly trong b nh chnh. Chng c s dng nh sau: Khi CPU ly c cc byte t b m 16 byte n t cc byte ny vo b m ln hn ly trong b nh chnh (Khon 8k-byte). Tip chng trnh ly d liu t cng COM s ly d liu t b m ln hn ny. i vi truyn d liu cng tng t. Khi CPU cn phi np mt s byte truyn n ly chng ra khi mt b m truyn ln (8k-byte) trong b nh chnh v a chng vo trong b m truyn 16 byte trong phn cng.

4.2.3.3 Cc loi truyn thng ni tip C hai loi truyn thng ni tip l ng b v khng ng b. Truyn thng ng b cho php tc truyn d liu nhanh hn phng thc khng ng

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b. Bi v cc bit thm nh du u v cui byte l khng yu cu. Cng COM ca my tnh l thit b khng truyn thng khng ng b cho nn n ch h tr cho truyn thng ni tip khng ng b. Truyn thng khng ng b khng yu cu truyn hay nhn cc k t v ngha. Tuy nhin n yu cu c cc bit nh u u v cui ca mi byte d liu c gi l cc bit start, stop.Cng ni tip (COM) thng l RS-232-C, EIA232-D hoc EIA-232-E. Chun RS232 l chun in p 12V khng tng thch vi TTL, trong khi vi iu khin ch tng thch vi chun TTL. V vy, cn c mch chuyn i gia RS232 sang TTL. Cc vi mch chuyn i t RS232 sang TTL rt thng dng trn th trng nh DS275 hoc MAX232. Phn ny ch cp n gii php s dng MAX232 lm b chuyn i . Cu to ca MAX232 c trnh by trn hnh 4.11.

Hnh 4.11: MAX232 Trn MAX232 c 2 b chuyn i RS232. Cc chn Tout v Rin l cc chn u ra chun tng thch vi chun RS232 cn cc chn Tin v Rout l cc chn tng thch vi TTL. Nguyn l hot ng ca MAX232 c th m t nh sau: Khi c mc 1 (5V) trn chn Tin, t C2 v C4 o ngc in p 5V v nhn i n ln tr thnh mc -10V. Khi c mc 0 trn chn Tin, t C1 v C3 nhn i in p 5V

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ln thnh 10V. Gi tr cc t C1, C2, C3, C4 thng thng c chn l 10uF. Mch chuyn i s dng MAX232 t ra n nh ton b di truyn ca chun RS232.

4.2.4. Khi driver iu khin ng c4.2.4.1. Gii thiu v IC cu H MC33886 iu khin ng c mt chiu ta cn phi thit k Driver cho ng c. Ta s s dng IC cu H MC33886 iu khin. MC33886 l mt cu H n dng iu khin ng c mt chiu. C ngun logic bn trong, sau khi cp ngun cho cu H t 5V 30V n t ng to ra ngun logic bn trong cu H. Mt u ra bo li hin th di dng in p, bo trng thi qu dng, qu iu kin nhit cho php. Hai u vo c lp iu khin cu H. MC33886 c di nhit lm vic t40o C n 125o C v gii in p lm vic t 5V n 30V.

Tng quan v IC cu H MC 33886 MC 33886 c 20 chn Gii in p lm vic t 5V n 30V u vo so snh TTL/CMOS Tn s PWM l 10 kHz T ng gii hn qu dng PWM Bo v ngn mch u ra Bo li trng thi

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Hnh 4.12: S ghp ni n gin gia MC33886 vi b iu khin

Hnh 4.13: S khi bn trong ca MC33886

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Hnh 4.14: S chn ca MC33886 Mt t chc nng ca cc chn: Chn 1 2 3 4,5,16 6,7 8,20 9,12 14,15 19 Tn chn AGND FS IN1 PWR OUT1 DNC PGND OUT2 IN2 M t Chn t Bo li trng thi iu khin u ra 1 Kt ni vi ngun dng u ra 1 ca cu H Khng ni Ni t u ra 2 ca cu H iu khin u ra 2

c tnh K hiu f PWM Tn s PWM Tn s gii gn trong qu trnh f MAX hot ng Thi gian tr khi bt u ra Thi gian tr khi tt u rat D (ON ) t D (OFF)

min -

typ 10 -

max 20 18 18

n v kHz kHzs s

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4.2.4.2. S nguyn l ca driver iu khin ng c IC cu H MC 33886 c 2 chn IN1 v IN2 c th iu khin o chiu ng c. Do y chng em ch iu khin tc nn ch s dng chn IN1 iu khin tc . Chn IN1 ca IC cu H MC33886 c ni vi chn PWM thuc timer1 ca vi iu khin. S nguyn l c trnh by di hnh 4.15.0J 4 5 4 3 2 1 C O N 5 1 2 3 4 5 6 7 8 9 U 4 M C 3 3 8 8 6 2 0 N D D N 1 C9 I N 12 8 1 D 11 7 w Cr c 1 p 6 w V r p 1w 5 TO 1 U 1 T 4 TO 1 U 1 T 3 C D 21 2 NP GD 1 N 1 NP GD N

1

2

V 4 7 C u 7 + + C 6 1 0 u F 1 F 5 0 V

0

A G F S I N V p V p O U O U D N P G 0 P G 5 0 V

C r + 2 2 D D 1 V C C 0

8

u

F

5

0

V

C +

2

0

0

4 2 1

7

u

F

5

0

V R R 1 R R 32

J

1

1 U 2 7 5 A 1 V 1 2 V 4 U 3 5 7 B 7 4 4 1 1 4 4 / S O J 1 2 C N D O N 2 9 C C 1 2 3 4 5 C O N 5 J 1

0

V R D L 5 E D 93 9 0

C

C 3

U V

3 O U GND T V 1 I N 1 C 2 2 2 0 V

D

1

C

5 1 0 47 8

0 2

5

2

C 1 0 1u 0F 4 G

0

Hnh 4.15: S nguyn l mch driver iu khin ng c

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14

Hnh 4.16: Mch driver iu khin ng c sau khi thit k

4.2.5. Giao tip vi bn phmBn phm cn iu khin s c b tr thnh mt ma trn gm 8 hng x 8 ct. Cc hng v cc ct c ni vi nhau qua cc phm. C mi khi c mt phm c nhn th 2 chn ca n s c ni vi nhau tc l s c mt hng ni vi mt ct. Khi hng v ct ny s c cng mt gi tr logic. Nh vy nu gi nguyn gi tr logic ca hng th gi tr ca ct ph thuc vo phm c c nhn hay khng. T mt phm c nhn s c th c pht hin bng cch qut ln lt cc hng v xem xt c s thay i no khng trn cc ct. Lc u cc hng v cc ct s c ko ln mc cao. Ln lt mt (v ch mt) hng s b ko xung mc thp v gi tr ca cc ct s c kim tra ngay sau . Nu c phm c nhn th lp tc ct tng ng s nhy xung mc thp. Cn nu khng c phm no c nhn th

85

gi tr ca cc ct vn mc cao. T s nhn c gi tr hng v ct c mc thp tng ng vi phm c nhn. Thi gian qut s c chn hp l khng b qua bt k mt phm no c nhn v s khng qut qu nhanh s khng tt cho mch v chng trnh.

C1H1 H2

C2

C3

C4

H3H4

Hnh 4.17: S bn phm

4.3 Thit k giao din bng iu khinVic s dng cng COM i km vi mt giao din ph hp tin dng cng thm kh nng ty bin hiu qu v linh ng vi yu cu tng thch cao vi my tnh v vi h iu hnh khc nhau ca Window nn la chn VB 6.0 l mt la chn ph hp.

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Hnh 4.18: Giao din u tin ca bng iu khin Hnh 4.18 m t giao din trang u tin ngay khi m ra ch bao gm mt nt duy nht l nt PID-NEURAL v cc li gii thiu v ng dng ang s dng, nhng thnh vin tham gia xy dng ng dng ny. T giao din ny sau khi bm nt PIDNEURAL chng trnh s a chng ta ti vi trang th 2 l mt ca s lm vic thng qua hai lnh c bn ca VB6.0 . K ngay lp tc chng trnh s a ta ti ca s lm vic c m t hnh 4.19.

Hnh 4.19: Ca s lm vic

87

Ca s lm vic c tt c 4 nt bm l cc nt Gui, Ghi file, Tro lai menu chinh v Ve lai. C 3 hin th s di dng text l cc VAN TOC DAT, VAN TOC THUC, SAI SO cng vi mt ca s ha v li hnh nh 2D m cc thng s ca h thng ang thit lp. Nt Gui dng ti d liu t my tnh xung mch phn cng trc tip chy b iu khin PID-NEURAL thng qua cng Com c ni t Com1 ca my tnh v USART1 ca chp ATMEGA128. Vic gi d liu ny thc cht l vic gi 6 Byte lin tip nhau trong c 1 Byte cha m d liu gi xung v 5 Byte cha ni dung ca d liu. Nt Ghi file dng lu li ton b cc gi tr tc thc gi ln di dng mt file text. y l gii php lu tr thng tin dng cho nhng vic m phng v nhn dng i tng iu khin thng qua mt cng c rt mnh hin thi l MATLAB Nt Ve lai l nt yu cu xa ton b nhng g v c trn giao din ha v v li t u. Nt Tro lai menu chinh l nt quay tr li giao din u tin khi chng trnh mi c bt v cng l nt chm dt vic s dng cm com nhm trnh xy ra tranh chp khi cc ng dng khc cng s dng cng ny. Ba hin th s th ngi dng ch c th tng tc v thay i ni dung duy nht ti VAN TOC DAT, cc kia l cc thu thp d liu v t ng hin th nn ngi dng khng nn v khng c php thay i l vic lm hp l. VAN TOC DAT l ni ngi dng nh vo tc m i tng iu khin (DC motor) cn phi t c. TOC DO THUC l s t ng cp nht cc vn tc thc thng qua cc d liu nhn c khi ATMEGA gi ln. Cn SAI SO l tnh ton phn trm sai s thng qua cc thng tin ca h thng. Giao din ha v th l mt i tng NTGraph rt thng dng v c cng ng Intenet xy dng. Trn th s v hai ng trong c mt ng mu vng l ng hin th gi tr t v ng mu l ng hin th gi tr thc. Cc gi tr ny c v lin tc thng qua tp hp cc im v cc on

88

thng rt nh bng vic c sau 0.1s s c v mt ln nn nhn hnh nh hin th ta s thy nh l mt ng lin tc. y l hnh nh khi h thng ang chy:

Hnh 4.20: M t hot ng ca h thng t giao din

4.3 Thit k h thng iu khin trn nn b iu khin PIDNeural4.3.1 M hnh iu khin

Hnh 4.21: S khi h thng iu khin

89

B iu khin dng iu khin l b iu khin PID-Neural c chnh nh thch nghi trng s. Hnh 4.1 l h thng iu khin s dng b iu khin PID-Neural. Hnh 4.2 l s mng nron ca b iu khin. B iu khin s dng mng nron 2 lp, 3 u vo, 1 u ra. Lp u vo c 2 nron, lp u ra c 1 nron.

Hnh 4.22: Cu trc mng nron ca b iu khin Hm truyn ca mng nron u tin ca lp u vo c 2 u vo l eP , eD . Hm truyn ca nron l hm tansig: 1 ( x ) =

1 e x . Hm truyn ca mng nron 1 + e x

th 2 ca lp u vo l eI . Hm truyn ca nron ny l hm gaussian:

e x e x 2 ( x) = 1 x x . Hm truyn ca nron lp ra l hm purelin: 3 ( x) = x . e +e Theo yu cu ca vic iu khin, khi eP , eD l s ln th cn tng ln ca tn hiu iu khin, khi l s nh th cn gim tn hiu iu khin nn chn hm truyn ca nron th nht l hm tansig. Ban u sai lch tch ly eI nh cn tng tn hiu iu khin, sau theo thi gian iu khin sai lch ny tng dn th cn gim tn hiu

2

90

iu khin nn chn chn hm truyn ca nron th hai l hm gaussian. Hnh 4.23 v 4.24 ln lt l th cc hm tansig v gaussian.

Hnh 4.23: Hm tansig

Hnh 4.24: Hm gaussian

91

4.3.2 Chnh nh cc trng s v tnh ton u raVic chnh nh cc trng s hay cn gi l hun luyn mng nron c thc hin theo thut ton Brandt-Lin. p dng thut ton Brandt-Lin tng t nh chng 2, cc trng s c chnh nh nh sau:1 1 1 1 1 s1 = w11.eP + w32 .eD v z1 = 1 ( s1 )

s1 = w1 .eI v z1 = 2 ( s1 ) 2 21 2 22 1 & w11 = gz1e 2 1 & w21 = gz2e 1 ' 1 & w11 = s1( s1 )

eP 2 2 E ' 1 & w w - gs 1( s1 ) eP 1 1 11 11 z1 z1

Vi

E 2 =- ebw11 1 z1' 1 s 1( s1 ) =

s 1 2 = 1 1 1 s1 1+ e- s1 1- e- s1

(

)(

)

2 & 1 ' 1 2 w & w11 = s1( s1 ) eP w11 11 + ge 1 z 1 1 z1e g + ge = s ( s ) eP w 1 z ' 1 1 1 2 11 1 ' 2 =2gs1( s 1 ) eP ew11 1 1 ' 1 2 & w32 =2gs1( s1 ) eI ew11 1 ' 1 2 & w21 =2gs 2 ( s2 ) eDew211 1 s 2 e s2 - e- s2 1 Vi: s ( s ) = 1 =- 2 s1 1 - s2 2 s2 e +e 1 1 2 s2 - e- s2 e s1 1 e 2 + e- s2

' 2

1 2

u ra ca b iu khin:2 1 2 u = w11.z1 + w21.z1 2

92

4.5 nh gi kt qu thc nghimng c 1 chiu c s dng dng ngun 24 V, c gn encoder vi phn di l 200 xung/vng. Tn hiu iu khin l tn hiu mc. Ban u mc iu khin l 1000 vng/pht, sau gim mc iu khin xung 800 vng/pht v li quay li vi tc l 1000 vng/pht. Cng thc tnh tc ng c theo s xung o c t encoder l:

v=

60 *1000 * n = 7.5n (vng/pht) 800 *10

Kt qu iu khin:

Hnh 4.25: Kt qu th nghim vi ng c in mt chiu Nhn xt: mc 1000 vng/pht, ng c t c xc lp gi tr ny vi sai s trn di 1.5%, khi gi tr t l thp th sai s ln hn. Do phn gii encoder ca ng c thp

93

Chng 5: KT LUN

Qu qu trnh nghin cu l thuyt v mng nron, thy c nhiu u im nn chng em s dng mng nron ng dng vo trong iu khin. Sau khi tin hnh m phng vi nhiu i tng, qun tnh bc 2, i tng c thnh phn tch phn, khng n nh v i tng phi tuyn chng em quyt nh s dng ng c mt chiu lm i tng th nghim cho b iu khin. Qua qu trnh nghin cu v kim chng bng thc t vi ng c in mt chiu. Em thy kt qu kh tt, vi b vi x l 8 bit sau mt khong thi gian hc khong 2 ting thi gian xc lp gim xung khong 1,5s, khng c qu iu chnh, kh nng t chnh nh khi c ti, nhiu ti nhng s thch ng l hi chm do tc phn hi u ra v vy m m c tr trong qua trnh chnh nh tham s ca mng. Vi vic s dng b vi x l 8 bit nh hin nay vn cn mt s hn ch v mt tc , thi gian tnh ton cc thng s ca mng l van cn chm v qu trnh hc cn di. Hng pht trin sp ti ca chng em l s ng dng trn mt vi x l c tc cao hn c th tng tc tnh ton ca mng cng nh p dng cho i tng ln hn nh ng c xoay chiu 3 fa ng dng mng nron trong iu khin l kh mi m v vy em mong mun mng nron c th c ng dng rng ri hn Vit Nam c bit l trong lnh vc iu khin.

94

Ti liu tham kho[1] Phan Xun Minh v Nguyn Don Phc, L thuyt iu khin m, Nh xut bn Khoa hc v K thut, 2004. [2] Phm Cng Ng, L thuyt iu khin t ng, Nh xut bn Khoa hc v K thut , 2001. [3] Ng Din Tp, K thut vi iu khin vi AVR, Nh xut bn Khoa hc v K thut, 2003. [4] R. D. Brandt, F. Lin, Adaptive Interaction and Its Application to Neural Networks, Elsevier, Information Science 121, pp 201-215 1999. [5] F. Lin, R. D. Brandt, G. Saikalis, Self-Tuning of PID Controllers by Adaptive Interaction, IEEE control society, 2000 American Control Conference, Chicago, 2000. [6] Madan M.Gupta, Liang Jin and Noriyasu Homma, Static and Dynamic Neural Networks: From Fundamentals to Advanced Theory, John Wiley & Sons, 2003. [7] Nikola K.Kasabov, Foundation of Neural Networks, Fuzzy Systems, and Knowledge Engineering, A Bradford Book, The MIT Press,1998. [8] Atmega128, Datasheet.

95