Doko.vn 198548 Nghien Cuu Thuat Toan Mo Dieu Khien Con

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Chng 1

MM UU

1.1 MMCC CCHH CCAA LLUUNN VVNN

Lun vn ny nghin cu l thuyt m, t ng dng vo thit k h thng iu

khin m cn bng con lc ngc quay theo phng thng ng trong khi phn a quay

di chuyn trong mt phng nm ngang theo tn hiu iu khin.

1.2 CCUU TTRRCC CCAA LLUUNN VVNN

Lun vn c chia thnh cc chng nh sau:

Chng 1: M U

Gii thiu s lc v l thuyt iu khin m, nu mc ch ca lun vn v cu

trc ca lun vn.

Chng 2: L THUYT IU KHIN M

Gii thiu mt s khi nim c bn ca l thuyt m, mt s php ton trong l

thuyt m v gii thiu v h thng iu khin m cng mt s c im, phng php

thit k b iu khin m.

Chng 3: M HNH CON LC NGC QUAY

Tm hiu v cu to vt l, m hnh ng hc v m hnh ca con lc ngc quay

trn Simulink ca MatLAB.

Chng 4: THIT K B IU KHIN M CHO CON LC NGC QUAY

Thit k b iu khin m iu khin cn bng con lc ngc quay theo phng

thng ng, m phng trn MatLAB.

Chng 5: KT LUN V HNG PHT TRIN

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Chng 2

LLYY TTHHUUYY TT II UU KKHHII NN MM

2.1 GGIIII TTHHIIUU

Trong cuc sng hng ngy chng ta lun i din vi nhng thng tin khng r

rng, nhng g chng ta gii quyt hu nh khng y , chnh xc, hay khng c bin

gii r rng. V d nh mc cht lng trong bnh bao nhiu l thp ngi iu khin

ng m van cho hp l, nu nhit cao th tng cng sut my iu ha, H thng

nh phn, trng en r rng ca my tnh khng th gip gii quyt cc vn ny. Nm

1965 ca th k XX, gio s Lofti A. Zadeh Trng i hc California - M a ra

khi nim v l thuyt tp m, da trn mt nhm s khng chnh xc gii quyt cc

vn m h. Sau cc nghin cu l thuyt v ng dng tp m pht trin mt cch

mnh m.

Tp m v logic m da trn suy lun ca con ngi v cc thng tin khng chnh

xc hoc khng y v h thng hiu bit v iu khin h thng mt cch

chnh xc. iu khin m chnh l bt chc cch x l thng tin v iu khin ca con

ngi i vi cc i tng. Do vy, b iu khin m thch hp iu khin nhng

i tng phc tp m cc phng php kinh in khng cho c kt qu mong mun.

2.2 II UU KKHHII NN MM

Trong nhng nm gn y, l thuyt logic m c nhiu p dng thnh cng trong

lnh vc iu khin. B iu khin da trn l thuyt logic m gi l b iu khin

m. Tri vi k thut iu khin kinh in, k thut iu khin m thch hp vi cc i

tng phc tp, khng xc nh m ngi vn hnh c th iu khin bng kinh nghim.

c im ca b iu khin m l khng cn bit m hnh ton hc m t c tnh

ng ca h thng m ch cn bit c tnh ca h thng di dng cc pht biu

ngn ng. Cht lng ca b iu khin m ph thuc rt nhiu vo kinh nghim ca

ngi thit k.

V nguyn tc, h thng iu khin m cng khng c g khc so vi h thng iu

khin t ng thng thng khc. S khc bit y l b iu khin m lm vic c t

duy nh b no di dng tr tu nhn to. Nu khng nh vi b iu khin m c

th gii quyt mi vn t trc n nay cha gii quyt c theo phng php kinh

in th khng hon ton chnh xc, v hot ng ca b iu khin ph thuc vo kinh

nghim v phng php rt ra kt lun theo t duy con ngi, sau uc ci t vo

my tnh da trn c s logic m. H thng iu khin m do cng c th coi nh

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mt h thng neural (h thn kinh), hay ng hn l mt h thng iu khin c thit

k m khng cn bit trc m hnh ca i tng.

B iu khin m c th dng trong cc s iu khin khc nhau. Sau y l 2 s

iu khin thng gp:

iu khin trc tip

B iu khin m c dng trong ng thun (forward path) ca h thng iu

khin ni tip. Tn hiu ra ca i tng iu khin c so snh tn hiu t, nu c sai

lch th b iu khin m s xut tn hiu tc ng vo i tng nhm mc ch lm sai

lch gim v 0. y l s iu khin rt quen thuc, trong s ny, b iu khin

m c dng thay th b iu khin kinh in.

iu khin thch nghi

Cc quy tc m cng c th dng hiu chnh thng s ca b iu khin tuyn

tnh trong s iu khin thch nghi. Nu mt i tng phi tuyn thay i im lm

vic, cht lng iu khin tt th thng s ca b iu khin phi thay i theo.

Hnh 2.12 l s iu khin thch nghi vi b gim st m (fuzzy supervisor).

Hnh 2.11: iu khin m trc tip

Hnh 2.12: iu khin thch nghi m

2.2.1 Cu trc b iu khin m

B iu khin m c bn c ba khi chc nng l m ha, h quy tc v gii m.

Thc t trong mt s trng hp khi ghp b iu khin m vo h thng iu khin cn

thm hai khi tin x l v hu x l. Chc nng ca tng khi trong s trn c

m t sau y:

2.2.1.1 Khi tin x l

Tn hiu vo b iu khin thng l gi tr r t cc mch o, b tin x l c chc

nng x l cc gi tr o ny trc khi a vo b iu khin m c bn. Khi tin x l

c th:

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- Lng t ha hoc lm trn gi tr o.

- Chun ha hoc t l gi tr o vo tm gi tr chun.

- Lc nhiu.

- Ly vi phn hay tch phn.

B iu khin m c bn l b iu khin tnh. c th iu khin ng, cn c

thm cc tn hiu vi phn, tch phn ca gi tr o, nhng tn hiu ny c to ra bi

cc mch vi phn, tch phn trong khi tin x ly .

Cc tn hiu ra ca b tin x l s c a vo b iu khin m c bn, v cn

ch rng cc tn hiu ny vn l gi tr r.

2.2.1.2 B iu khin m c bn

M ha

Khi u tin bn trong b iu khin m c bn l khi m ha, khi ny c chc

nng bin i gi tr r sang gi tr ngn ng, hay ni cch khc l sang tp m, v h

quy tc m c th suy din trn cc tp m.

H quy tc

H quy tc m c th xem l m hnh ton hc biu din tri thc, kinh nghim ca

con ngi trong vic gii quyt bi ton di dng cc pht biu ngn ng. H quy tc

m gm cc quy tc c dng nu th, trong mnh iu kin v mnh kt lun

ca mi quy tc l cc mnh m lin quan n mt hay nhiu bin ngn ng. iu

ny c ngha l b iu khin m c th p dng gii cc bi ton iu khin mt ng

vo mt ng ra (SISO) hay nhiu ng vo nhiu ng ra (MIMO).

Phng php suy din

Suy din l s kt hp cc gi tr ngn ng ca ng vo sau khi m ha vi h quy

tc rt ra kt lun gi tr m ca ng ra. Hai phng php suy din thng dng trong

iu khin l MAX-MIN v MAX-PROD.

Gii m

Kt qu suy din bi h quy tc l gi tr m, cc gi tr m ny cn c chuyn

i thnh gi tr r iu khin i tng.

2.2.1.3 Khi hu x l

Trong trng hp cc gi tr m ng ra ca cc quy tc c nh ngha trn tp

c s chun th gi tr r sau khi gii m phi c nhn vi mt h s ty l tr thnh

gi tr vt l.

Khi hu x l thng gm cc mch khuch i (c th chnh li), i khi khi

hu x l c th c khu tch phn.

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2.2.2 Phng php thit k b iu khin m

Khi thit k b iu khin m, chng ta ch mong mun c b iu khin cho kt

qu chp nhn c ch khng phi kt qu tt nht. Mt khc, nh trnh by

mc 2.4.5, bi ton n nh ca h thng iu khin m vn cn l bi ton m. V

vy ch nn s dng b iu khin m khi kt qu iu khin bng cc phng php

kinh in khng tha mn yu cu thit k.

Rt kh c th a ra c phng php thit k h thng iu khin m tng qut.

Mt b iu khin m c thit k tt hay khng hon ton ph thuc vo kinh nghim

ca ngi thit k. Mc ny ch a ra mt s ngh v trnh t thit k mt b iu

khin m.

Cc bc thit k b iu khin m:

- Bc 1: Xc nh cc bin vo, bin ra (v bin trng thi, nu cn) ca i tng.

- Bc 2: Chun ha cc bin vo, bin ra v min gi tr [0,1] hay [-1,1] sau ny

c th lp trnh d dng bng vi x l (8051, 68HC11, 68HC12,).

- Bc 3: nh ngha cc tp m trn tp c s chun ha ca cc bin, v gn cho

mi tp m mt gi tr ngn ng. S lng, v tr v hnh dng ca cc tp m tu thuc

vo tng ng dng c th. Mt ngh l nn bt u bng 3 tp m c dng hnh tam

gic cho mi bin v cc tp m ny nn c phn hoch m . Nu khng thoa mn yu

cu th c th tng s lng tp m, thay i hnh dng.

- Bc 4: Gn quan h gia cc tp m ng vo v ng ra, bc ny xy dng c

h quy tc m. Bc ny c th thc hin tt nu ngi thit k c kinh nghim v cc

quy tc m thng dng, v cc pht biu ngn ng m t c tnh ng ca i tng.

- Bc 5: M ha tn hiu vo , thng cc tn hiu vo c m hoa thnh cc tp

m c dng singleton.

- Bc 6: Chn phng php suy din. Trong thc t ngi ta thng chn phng

php suy din cc b nhm n gin trong vic tnh ton v p dng cng thc hp

thnh MAX-MIN hay MAX-PROD.

- Bc 7: Chn phng php gii m. Trong iu khin ngi ta thng chn

phng php gii m tha hip nh phng php trng tm, phng php trung bnh

c trng s

- 6 -

Chng 3

MM HHNNHH

CCOONN LL CC NNGGCC QQUUAAYY

3.1 MM TT

Con lc ngc quay gm hai phn:

- a quay c iu khin bi mt ng c DC c trc theo phng thng ng.

Nh vy, a quay trong mt phng vung gc vi phng thng ng.

- Hai con lc c gn mp a quay, i xng vi nhau qua tm a quay.

Hnh 3.1: M hnh thc con lc ngc quay

Sau y l m hnh h thng con lc ngc quay:

Hnh 3.2: M hnh con lc ngc quay

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vi:

: Lc qun tnh ngoi tc ng vo a quay

: Gc quay ca a quay

1: Gc lch ca con lc th nht so vi phng thng ng

2: Gc lch ca con lc th hai so vi phng thng ng

3.2 MM HHNNHH NNGG

Ta dng hm Lagrange xc nh h phng trnh ton hc. Hm Lagrange c

nh ngha l s sai lch gia ng nng v th nng.

= K U

vi: : Hm Lagrange

K: ng nng ca h

U: Th nng ca h

Hm Lagrange c vit nh sau:

iFW

dt

d

iii qq

q

(3.1)

vi Fi, qi, W tng ng l cc tng lc, h ta suy rng v nng lng tiu hao.

ng nng:

Tng ng nng ca h l:

222211222211202

1vmvmJJJK (3.2)

vi v1, v2 l vn tc ca con lc th nht v th hai.

21112

1

2

111

2

22

2

11

2

0 )(2

1)(

2

1)sin(

2

1

2

1

2

1

2

1 lmLmlmJJJK

22222

222

2

2

2

2221111 cos)(2

1)(

2

1)sin(

2

1cos LlmlmLmlmLlm

(3.3)

Th nng:

Th nng ca 2 con lc c tnh nh sau:

U = m1gl1cos1 + m2gl2cos2 (3.4)

Nng lng tiu hao:

Nng lng tiu hao ch yu l do ma st:

- 8 -

222211202

1 cccW (3.5)

T phng trnh (3.3), (3.4) v (3.5), ta c th vit hm Lagrange li nh sau:

21112

1

2

111

2

22

2

11

2

0 )(2

1)(

2

1)sin(

2

1

2

1

2

1

2

1 lmLmlmJJJ

22222

222

2

2

2

222111 cos)(2

1)(

2

1)sin(

2

1cos LlmlmLmlmLml

(3.6)

T (3.1) v (3.6), ta c h phng trnh ng hc nh sau:

0

0

3

2

1

2

1

333231

232221

131211

p

p

p

ppp

ppp

ppp

(3.7)

Trong :

22222

22

2

11

22

11011 sinsin LmlmLmlmJp

11112 cosLlmp

22213 cosLlmp

11121 cosLlmp

211122 lmJp

p23 = 0

22231 cosLlmp

p32 = 0

222233 lmJp

22

22222

2

2201

2

11111

2

111 sin)2sin(sin)2sin( LlmlmcLlmlmp

111111122

112 sincossin cglmlmp

222222222

223 sincossin cglmlmp

Ta dng ng c DC iu khin a quay, do vy tn hiu iu khin chnh l

in p. Ta c

R

KK

R

VK bmm

(3.8)

V vy:

- 9 -

0

0

'

'

'

3

2

'

1

2

1

333231

232221

131211 V

R

K

p

p

p

ppp

ppp

pppm

(3.9)

vi:

)(sin)2sin(' 012

11111

2

111R

KKcLlmlmp bm

22

22222

2

22 sin)2sin( Llmlm

111111122

112 sincossin' cglmlmp

222222222

223 sincossin' cglmlmp

3.3 MM HHNNHH CCOONN LLCC DDNNGG SSIIMMUULLIINNKK

T (3.9), ta c:

)(

'

22

2

1333

2

12332211

332213322

pppppppR

pppppVpKm

(3.10)

22

1221

'

p

pp

(3.11)

33

133

2

'

p

pp

(3.12)

Ta dng (3.10), (3.11) v (3.12) lp m hnh con lc dng Simulink Toolbox ca

MatLab.

Hnh 3.4: M hnh ca con lc ngc quay trn Simulink

- 10 -

3.5 CCCC TTHHNNGG SS VVTT LL

Cc thng s vt l ca con lc ngc c xc nh nh sau:

Thng s K hiu Gi tr n v

Moment qun tnh ca a quay J0 0.06 kg.m2

Moment qun tnh ca con lc th nht J1 0.008 kg.m2

Moment qun tnh ca con lc th hai J2 0.002 kg.m2

H s ma st ca a quay c0 0.004 N.m/s

H s ma st ca con lc th nht c1 0.0031 N.m/s

H s ma st ca con lc th hai c2 0.00088 N.m/s

Khi lng con lc th nht m1 0.25 Kg

Khi lng con lc th hai m2 0.13 Kg

Khong cch t khp ni n trng tm ca

con lc th nht l1 0.24 M

Khong cch t khp ni n trng tm ca

con lc th hai l2 0.13 M

Bn knh a quay L 0.172 M

Gia tc trng trng g 9.8 m/s2

Hng s moment quay ca ng c Km 0.005 N.m/A

Hng s sc in ng ngc ca ng c Kb 0.001 N.m/A

in tr phn ng ca cun dy R 2

- 11 -

Chng 4

TTHHII TT KK BB II UU KKHHII NN MM CCHHOO

CCOONN LL CC NNGGCC QQUUAAYY

Yu cu ca ta l thit k b iu khin gi thng bng con lc th nht dng

ng, con lc th hai th nm hng xung t, tn hiu t chnh l v tr ca a quay.

Ta chn s iu khin trc tip, ngha l ta so snh v tr ca a quay vi tn hiu

t iu khin sao cho sai lch gia 2 tn hiu ny gim v 0, trong khi vn

phi gi thng bng cho cho con lc th nht ng thng v con lc th hai nm hng

xung t.

B iu khin ca chng ta c dng MISO (Multi Inpur Single Output: nhiu ng

vo - mt ng ra).

4.1 CCHHNN CCCC BBIINN VVOO RRAA

Ta chn 6 bin ng vo:

- sai lch gia tn hiu ch v v tr ca phn a quay ().

- Vn tc gc ca a quay ().

- V tr ca con lc th nht so vi phng thng ng (1).

- Vn tc gc ca con lc th nht (1).

- V tr ca con lc th hai so vi phng thng ng (2).

- Vn tc gc ca con lc th hai (2).

i vi ng ra, ta ch cn chn 1 ng ra, chnh l tn hiu iu khin ng c lm

quay a quay ca h con lc (V).

Tp c s ca cc bin ph thuc ch yu vo phn cng, da vo mt s phng

php xc nh tng i cc tp c s ny, ta chn nh sau:

- sai lch gia tn hiu ch v v tr ca phn a quay (): [-8 8] (rad).

- Vn tc gc ca a quay (): [-10 10] (rad/sec).

- V tr ca con lc th nht so vi phng thng ng (1): [-/12 /12] (rad).

- Vn tc gc ca con lc th nht (1): [-2 2] (rad/sec).

- V tr ca con lc th hai so vi phng thng ng (2): [-/5 /5] (rad).

- Vn tc gc ca con lc th hai (2): [-5 5] (rad/sec).

- 12 -

- Tn hiu iu khin ng c lm a quay (V): [-600 600].

Hnh 4.1: Thit lp cc bin vo ra trn FIS Editor ca MatLAB

4.2 CCHHUUNN HHAA TTPP CC SS CCAA CCCC BBIINN VVOO RRAA

Ta cn chun ha cc tp c s ca cc bin vo/ra v min [-1 1], ta c cc gi

tr li ng vi cc bin vo ra:

- i vi : 8

11 g

- i vi : 10

12 g

- i vi 1:

123 g

- i vi 1: 2

14 g

- i vi 2:

55 g

- i vi 2: 4

16 g

- i vi V: 6007 g

- 13 -

4.3 CCHHNN TTPP MM CCHHOO CCCC BBIINN VVOO

V nguyn tc, s lng cho mi bin ngn ng nn nm trong khong t 3 n 10

gi tr. Nu s lng t hn 3 th c t ngha, cn nu ln hn 10 th con ngi kh c

kh nng bao qut. Ta chn 3 tp m (gi tr ngn ng) cho mi bin vo: N, Z v P.

Cc tp m ny c phn hoch m trn tp c s chun ha v hm lin thuc c

dng tam gic v chn hm lin thuc dng tam gic khng nhng lm cho php ton v

sau tng i n gin m cn ng thi c th kh nhiu u vo.

Hnh 4.2: Cc tp m ca

Hnh 4.3: Cc tp m ca

Hnh 4.4: Cc tp m ca 1




4.4 CCHHNN TTPP MM CCHHOO BBIINN RRAA

Ta chn 9 tp m cho bin ng ra: N4, N3, N2, N1, Z, P1, P2, P3 v P4. y ta

chn 9 tp m nhm lm cho gi tr ng ra c mn mng hn.

Hnh 4.8: Cc tp m ca V

- 14 -

4.5 XXYY DDNNGG TTPP LLUUTT MM

xy dng tp lut m, ta xt tng trng hp, chng hn nh sau:

- Nu gc lch ca con lc th nht so vi phng thng ng (c chiu hng ln) l

00, gia tc gc ca con lc th nht bng 0; gc lch ca con lc th hai so vi phng

thng ng (c chiu hng ln) l 1800, gia tc gc ca con lc th hai bng 0, v tr

ca a quay nm ng v tr cn t, vn tc gc ca a quay bng 0 th ta khng phi

kch hot ng c. Nh vy lut m s c vit nh sau:

Nu (=Z) v (=Z) v (1=Z) v (`1=Z) v (2=Z) v (`2=Z) Th (V=Z)




ca a quay lch mt gc m so vi v tr cn t trong khi vn tc gc ca a quay

bng 0 th ta phi kch hot ng c quay ngc li mt cch chm ri bm theo v tr

cn t. Nh vy lut m s c vit nh sau:

Nu (=N) v (=Z) v (1=Z) v (`1=Z) v (2=Z) v (`2=Z) Th (V=N1)




ca a quay lch mt gc dng so vi v tr cn t trong khi vn tc gc ca a quay

bng 0 th ta phi kch hot ng c quay thun mt cch chm ri bm theo v tr cn

t. Nh vy lut m s c vit nh sau:

Nu (=P) v (=Z) v (1=Z) v (`1=Z) v (2=Z) v (`2=Z) Th (V=P1)


mt gc dng, gia tc gc ca con lc th nht m; gc lch ca con lc th hai so vi

phng thng ng (c chiu hng ln) l 1800, gia tc gc ca con lc th hai bng 0,

v tr ca a quay ng v tr cn t trong khi vn tc gc ca a quay ln hn 0 th ta

khng phi kch hot ng c quay. Nh vy lut m s c vit nh sau:

Nu (=P) v (=N) v (1=Z) v (`1=Z) v (2=Z) v (`2=P) Th (V=P1)

Ta c ln lt xt cc trng hp xy dng tp lut m.

- 15 -

Hnh 4.9: Cc lut m c bin son trn MatLAB

Hnh 4.10: Mt iu khin gia V vi v

Hnh 4.11: Mt iu khin gia V vi 1

v 1

4.6 CCHHNN PPHHNNGG PPHHPP SSUUYY DDIINN

Ta chn phng php suy din MAX MIN.

4.7 CCHHNN PPHHNNGG PPHHPP GGIIII MM

Ta chn phng php gii m trng tm (Centroid) v phng php trng tm c u

im l c tnh n nh hng ca tt c cc lut iu khin n gi tr u ra . Tuy

- 16 -

nhin, cng thc tnh ton ca phng php ny tng i phc tp, iu ny lm nh

hng n tc iu khin.

\4.8 MM PPHHNNGG BBNNGG MMAATTLLAABB

4.8.1 S iu khin

S iu khin con lc ngc quay dng Fuzzy Logic chy trn MatLAB nh sau:

Hnh 4.12: S Simulink m phng h thng iu khin con lc ngc quay dng

Fuzzy Logic

4.8.2 Cc p ng ca h thng

Hnh 4.13: p ng ca phn a quay

i vi tn hiu xung vung

Hnh 4.14: p ng ca con lc th nht i

vi tn hiu xung vung

- 17 -

Hnh 4.15: p ng ca con lc th hai

i vi tn hiu xung vung

Hnh 4.16: p ng ca a quay i vi tn

hiu sin

Hnh 4.17: p ng ca con lc th nht

i vi tn hiu sin

Hnh 4.18: p ng ca con lc th hai i

vi tn hiu sin

4.8.3 Chng trnh m phng

y l chng trnh m phng h vi mt s tn hiu iu khin c bn nh sng

vung, sng sin.

Giao din chnh ca chng trnh m phng nh sau:

Hnh 4.19: Giao din chng trnh m phng

- 18 -

thc hin m phng, ta chn kiu tn hiu t ti chn Hm tn hiu, nhn

nt Start m phng chuyn ng ca h.

Cc hm tn hiu iu khin:

- Hm sng vung.

- Hm sng sin.

Khi thc hin m phng, trn mn hnh s th hin s chuyn ng ca a quay v

chuyn ng ca hai con lc. Bn cnh , chng trnh cng v li dng sng ca cc

tn hiu sau:

- Hm mc tiu (mu tm).

- V tr ca a quay (mu xanh dng).

- V tr ca con lc th nht (mu xanh l cy).

- V tr con lc th hai (mu ).

Ngoi ra, ta cng c th a nhiu vo h thng qua chn Nhiu. y, ta xt 3

trng hp:

- Nhiu tc ng ln a quay.

- Nhiu tc ng ng thi ln a quay v con lc th nht.

- Nhiu tc ng ln c h (a quay v 2 con lc).

Hnh 4.20: Giao din ca chng trnh m phng khi hm mc tiu l dng sng vung

v c nhiu tc ng trn ton h

- 19 -

Chng 5

KK TT LLUU NN VV

HHNNGG PPHHTT TTRRIINN

5.1 KKTT LLUUNN

Vi mc tiu tm hiu v Fuzzy Logic thit k h thng iu khin h con lc

ngc quay bng Fuzzy Logic, ni dung lun vn cp n cc vn sau:

- Tm hiu v l thuyt iu khin m.

- Tm hiu h con lc ngc quay.

- ng dng l thuyt iu khin m xy dng b iu khin gi cn bng cho h

con lc ngc quay.

- Xy dng chng trnh m phng chy trn MatLAB.

T nhng vn trn, chng ta rt ra c mt s kt lun sau:

- Khi thit k b iu khin m, ta khng cn bit m hnh ton hc ca i tng,

m ta ch cn bit nguyn tc hot ng ca i tng v mt nh tnh m thi. Trong

ti ny, ta tm hiu m hnh ng hc ca h con lc ngc quay ch m phng

xem p ng ca h thng iu khin.

- Cht lng ca b iu khin m ph thuc hon ton vo suy lun ca ngi thit

k, da vo kinh nghim ch quan.

- Ta khng cn phi xy dng hon chnh cc lut m m ch cn mt lng nht

nh cc lut m cng c th thu c kt qu m ta mong mun. Nh lun vn ny,

vi 6 ng vo, mi ng vo c 3 bin ngn ng th b lut m phi l 36 (729) lut

nhng ta ch cn 129 lut th b iu khin cng p ng c yu cu..

5.2 HHNNGG PPHHTT TTRRIINN

lun vn ny, ta thit k h thng iu khin h con lc ngc quay bng Fuzzy

Logic bng m hnh iu khin trc tip.

pht trin ti, ta c th dng cc m hnh iu khin Fuzzy Logic khc nh

m hnh iu khin m thch nghi, hoc chng ta s dng cc b iu khin thng minh

khc nh neural network

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