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I HC THI NGUYN TRNG I HC K THUT CNG NGHIP --------------------------------------
LUN VN THC S K THUT NGNH: T NG HA
NGHIN CU NG DNG H IU KHIN D BO IU KHIN MC NC BAO HI CA NH MY NHIT IN
L TH HUYN LINH
THI NGUYN 2009
I HC THI NGUYN TRNG I HC K THUT CNG NGHIP --------------------------------------
LUN VN THC S K THUT NGNH: T NG HA
Hc vin: L Th Huyn Linh Ngi HD Khoa Hc: Nh gio u t PGS.TS Li Khc Li
THI NGUYN 2009
I HC THI NGUYN CNG HO X HI CH NGHA VIT NAM TRNG HKT CNG NGHIP c lp - T do - Hnh phc *** ---------------o0o---------------
THUYT MINH
LUN VN THC S K THUT

TI:
Hc vin: L Th Huyn Linh Lp: CHK9 Chuyn ngnh: T ng ho Ngi HD Khoa hc: PGS.TS Li Khc Li Ngy giao ti: 25/6/2008 Ngy hon thnh: 25/2/2009
KHOA T SAU I HC
NGI HNG DN
HC VIN
PGS.TS Li Khc Li
L Th Huyn Linh
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LI NI U
iu khin d bo ra i cch y vi thp nin nhng trong nhng nm gn y pht trin mnh m v c nhiu thnh cng trong cng nghip. iu khin d bo theo m hnh (Model Predictive Control MPC) l mt trong nhng k thut iu khin tin tin c nhiu ngi a chung nht trong cng nghip, c c iu ny l do kh nng trin khai cc iu kin rng buc vo thut ton iu khin mt cch d dng m cc phng php iu khin kinh in khc khng c c. iu khin d bo l chin lc iu khin c s dng ph bin nht trong iu khin qu trnh v cng thc MPC bao gm c iu khin ti u, iu khin cc qu trnh ngu nhin, iu khin cc qu trnh c thi gian tr, iu khin khi bit trc qu o t. Mt u im khc ca MPC l c th iu khin cc qu trnh c tn hiu iu khin b chn, c cc iu kin rng buc, ni chung l cc qu trnh phi tuyn m ta thng gp trong cng nghip, c bit l qu trnh phi tuyn phc tp. Vic nghin cu v ng dng iu khin d bo trong cng nghip luyn kim l mt gii php quan trng, c ngha thc tin, k thut v kinh t. Vi nhng ngha trn y v c s nh hng ca thy gio PGS.TS Li Khc Li em la chn ti: Nghin cu ng dng h iu khin d bo iu khin mc nc bao hi ca nh my nhit in trong s dng mng nron nhn dng i tng. c s gip v hng dn rt tn tnh ca Thy gio, nh gio u t PGS.TS Li Khc Li v mt s ng nghip, n nay em hon thnh lun vn ca mnh. Mc d c nhiu c gng nhng do thi gian c hn nn khng trnh khi mt s thiu st nht nh. Em rt mong nhn c kin ng gp ca cc thy c v cc bn ng nghip cho lun vn hon thin hn. Em xin chn thnh cm n! Tc gi
L Th Huyn Linh
S ha bi Trung tm Hc liu i hc Thi Nguyn
http://www.lrc-tnu.edu.vn
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LI CAM OAN
Tn ti l: L Th Huyn Linh Sinh ngy 01 thng 11 nm 1981 Hc vin lp cao hc kho 9 - T ng ho - Trng i hc k thut Cng nghip Thi Nguyn. Hin ang cng tc ti khoa in - Trng i hc K thut Cng nghip Thi Nguyn. Xin cam oan: ti Nghin cu ng dng iu khin d bo iu khin mc nc bao hi ca nh my nhit in do thy gio, nh gio u t PGS.TS Li Khc Li hng dn l cng trnh nghin cu ca ring ti. Tt c cc ti liu tham kho u c ngun gc, xut x r rng. Tc gi xin cam oan tt c nhng ni dung trong lun vn ng nh ni dung trong cng v yu cu ca thy gio hng dn. Nu c vn g trong ni dung ca lun vn th tc gi xin hon ton chu trch nhim vi li cam oan ca mnh.
Thi Nguyn, ngy 25 thng 2 nm 2009
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MC LC
Ni dung
Li ni u Li cam oan Mc lc Danh sch cc k hiu, cc ch vit tt Danh mc cc hnh v, th Chng 1: M U 1.1.L do la chn ti 1.2. Mc ch ca ti 1.3. i tng v phm vi nghin cu 1.4. ngha khoa hc v thc tin ca ti Chng 2: TNG QUAN V IU KHIN D BO 2.1. Tng quan v iu khin d bo 2.1.1. iu khin theo m hnh d bo l g? (Model Prediction Control). 2.1.1.1. Khi qut chung v MPC 2.1.1.2. Thut ton MPC (MPC stragegy) 2.1.2. M hnh h thng v m hnh phn b nhiu 2.1.3. Hm mc tiu 2.1.4. iu kin rng buc 2.1.5. Vn ti u ha 2.1.6. Chin lc iu khin dch dn v tng lai (receding horizon control_RHC) 2.2. M hnh trong iu khin d bo 2.2.1. M hnh vo ra (Input Output models) 2.2.2. M hnh p ng bc v m hnh p ng xung (Impulse and Step response models) 2.2.3. M hnh a thc 2.2.4. M hnh m (Fuzzy Models) 32 34 25 25 31 15 17 19 21 22 23 24 Trang 0 1 2 5 7 9 9 9 10 13 14 15 15
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2.2.4.1. Cc dng m hnh m 2.2.4.2. Tnh cht hi t ca cc dng m hnh 2.2.5. Mt s m hnh d bo v cc thut ton c th 2.2.5.1. M hnh d bo Smith cho qu trnh c thi gian cht ln 2.2.5.2. iu khin ma trn ng vng n (DMC) 2.2.5.3. Thut ton iu khin GPC (Generalized Predictive Control) 2.2.5.4. iu khin d bo d bo h phi tuyn da vo m hnh m Mandani 2.3. Gii bi ton iu khin d bo 2.3.1. B d bo 2.3.2. iu khin d bo khng rng buc 2.3.3. iu khin d bo vi rng buc phng trnh 2.4. S dng mng noron (Neural Network) nhn dng i tng 2.5. Kt lun Chng 3: TM HIU H THNG IU KHIN L HI NH MY NHIT IN PH LI 3.1. Gii thiu chung v nh my Nhit in Ph Li 3.2. Chu trnh nhit ca mt t my 3.3. L hi BKZ 220 100 10C 3.3.1. S lc v l hi 3.3.1.1. Nhim v ca l hi 3.3.1.2. Cc thng s k thut c bn ca l hi BZK- 220-10010C 3.3.1.3.Cu to ca l 3.3.1.4. Nguyn l hot ng ca l hi BKZ 220 100 10C 3.3.2. Cc h thng iu chnh trong l hi nh my nhit in 3.3.2.1. H thng iu chnh nhit hi qu nhit 3.3.2.2. H thng iu chnh qu trnh chy 3.3.2.3. H thng iu chnh sn lng hi
47
48 49 51 52 53
60 64
64 64 65 65 65 66
67 71 72 73 74 75
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3.3.2.4. H thng iu chnh mc nc bao hi 3.4. Nghin cu v h thng iu chnh mc nc bao hi trong nh my Nhit in Ph Li 3.4.1. t vn 3.4.2. Cc cu trc c bn ca iu khin mc nc bao hi 3.4.2.1. Cc k hiu trn s logic 3.4.2.2. S iu chnh mt tn hiu 3.4.2.3. S iu chnh hai tn hiu 3.4.2.4. S iu chnh ba tn hiu Chng 4: XY DNG H IU KHIN D BO CHO MC NC BAO HI 4.1. H thng iu chnh mc nc bao hi ch bt u khi ng l 4.1.2. Hm truyn t ca b chuyn i dng in kh nn (I/P) 4.1.3. Hm truyn t ca van 4.1.4. Hm truyn t ca i tng iu chnh 4.2. Xy dng h thng iu khin d bo iu khin mc nc bao hi 4.3. Mng noron trong bi ton nhn dng 4.3. Kt qu m phng 4.4. Nhn xt kt lun Tm tt lun vn Ti liu tham kho
76 77 77 78 79 79 82
82
83 83 84 88
89 89 92 93 94
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DANH MC CC K HIU, CC CH VIT TT

I. Danh mc cc k hiu - Hp l tm d bo - Hc l tm iu khin - xss l trng thi xc lp ca h thng - r(k) l tn hiu tham chiu ca m hnh ti thi im k v chnh l trng thi u ra mong mun ca i tng iu khin - y(k) l tn hiu u ra ca h thng thc - yM(k) l u ra ca m hnh - u(k) l tn hiu iu khin i tng ti thi im k
- x l trng thi d bo
- u, y l tn hiu iu khin d bo v u ra d bo tng lai tng ng ca h
thng da trn c s m hnh. - x (k) l trng thi ca h thng - e(k) l nhiu trng c trung bnh bng zero k l cc thng tin bit trc v h thng trong bao gm phn b nhiu
- v(k) l cc tn hiu u vo h thng - J ,k Hm mc tiu
- z k : vector cc tn hiu c th xc nh trong h thng
j : ma trn la chn cho (diagonal selection matrix) vi cc gi tri zero v 1
trn ng cho. l trng s trn tn hiu iu khin

1 p1q
1
- Pq
...
p np q
np
l mt a thc vi cc cc vng kn mong mun.
- Go(q): m hnh h thng.
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- Fo(q): m hnh phn b nhiu (disturbance). - Ho(q): m hnh nhiu (noise). - u(k): tn hiu vo. - do(k): tn hiu phn b nhiu bit. - q: ton t dch chuyn, q-1y(k) = y(k-1) II. Danh mc cc ch vit tt 1. Model Prediction Control (MPC) 2. Thut ton MPC (MPC stragegy) 3. Receding horizon control (RHC) 4. Input Output Models (IOM) 5. Direct Input Output models (IO) 6. Increment Input Output models (IIO) 7. Dynamical Matrix Control (DMC) 8. Generalized Predictive Control (GPC) 9. Neural Network (NN) 10. iu khin d bo (KDB) 11. Tagaki-Sugeno (TS) 12. Quadratic Programing (QP) 13. Long-Range Predictive Control (LRPC) 14. Linear programming (LP) 15. Branch and Bound (BB) 16. Multil Input Multil Output (MIMO) 17. Single Input Single Output (SISO)
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DANH MC CC HNH V, TH
Hnh 1.1. S khi iu khin mc nc bao hi
Hnh 1.2. Cc tn hiu trong iu khin d bo
Hnh 1.3. Phn phi cc ng dng MPC theo mc phi tuyn ca h thng Hnh 2.1. (a) S khi h thng iu khin d bo (b) Chin lc iu khin d bo Hnh 2.2. Thut ton Hnh 2.3. Cu trc c bn ca MPC Hnh 2.4. M hnh tng qut b iu khin d bo Hnh 2.5. Chin lc iu khin RHC Hnh 2.6. M hnh vo ra (IO) Hnh 2.7. M hnh IO s dng bin trng thi Hnh 2.8. M hnh a thc Hnh 2.9a. M hnh sai s vo ra song song - ni tip Hnh 2.9b. M hnh sai s vo ra ni tip - song song Hnh 2.10. B c lng khng lch trong m hnh c nhiu Hnh 2.11. iu khin nhit ca bnh cht lng Hnh 2.12. M hnh d bo Smith da trn cu trc b iu khin Hnh 2.13. Phm vi d bo
Hnh 2.14. M hnh nron nhn to th i Hnh 2.15. Mng truyn thng 1 lp Hnh 2.16. Mng truyn thng nhiu lp
Hnh 2.17. Nt t truyn ngc Hnh 2.18. Mng truyn ngc 1 lp Hnh 2.19. Mng truyn ngc nhiu lp Hnh 2.20. M hnh hc c gim st Hnh 2.21. M hnh hc cng c Hnh 2.22. M hnh hc khng gim st Hnh 3.1. S chu trnh nhit kn Hnh 3.2. Cu to l hi BZK-220-100-10C
S ha bi Trung tm Hc liu i hc Thi Nguyn http://www.lrc-tnu.edu.vn
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Hnh 3.3: S iu chnh mc nc bao hi dng mt tn hiu Hnh 3.4: S iu chnh mc nc bao hi dng hai tn hiu Hnh 3.4: S iu chnh mc nc bao hi dng ba tn hiu Hnh 4.1. S khi iu khin mc nc bao hi Hnh 4.2. S iu chnh mc nc bao hi mt tn hiu Hnh 4.3: c tnh ng ca mc nc bao hi khi thay i lu lng nc cp Hnh 4.4: S cu trc ca h thng khi cha c iu khin Hnh 4.5: S m phng iu khin mc nc bao hi dng b iu khin d bo Hnh 4.6: D liu vo/ra ca i tng Hnh 4.7: D liu vo/ra ca i tng, ca mng v sai s Hnh 4.8: Tp d liu kim tra
Hnh 4.9: Tp d liu chp nhn
Hnh 4.10: Tn hiu ra ca h thng c 1 nhiu u vo Hnh 4.11: Tn hiu ra ca h thng c 1 nhiu u vo v c tr
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Chng 1 M U 1.1. L do la chn ti Cc thut ton iu khin trong h thng iu khin t ng c hnh thnh, pht trin v c c nhng kt qu rt quan trng. Chng ta bit nn mng ban u l thut ton iu khin PID kinh in, sau hnh thnh cc thut ton PID t chnh, thut ton lai PID _Logic m, thut ton iu khin ti u, thut ton iu khin thch nghi, thut ton iu khin m, thut ton iu khin nron, thut ton iu khin d bo ... Xong vic nghin cu v tm hiu v cc thut ton iu khin vn l ti nhiu ngi nhiu ngnh nghin cu v mang tnh thi s cao. iu ny cho php tm hiu cn k v chn thc bn cht ca cc thut ton ng dng trong iu khin, tm ra c nhng u nhc im t hn ch c nhng mt yu v pht huy nhng th mnh ca n a ra cc ch tiu cht lng theo yu cu. Xut pht t tnh hnh thc t trn v nhm gp phn thit thc vo cng cuc CNH _HH t nc ni chung v pht trin ngnh t ng ho ni ring, trong khun kh ca kho hc Cao hc, chuyn ngnh T ng ha ti trng i hc K thut Cng nghip Thi Nguyn, c s to iu kin gip ca nh trng, Khoa Sau i hc v thy gio, nh gio u t Ph Gio S - Tin s Li Khc Li, tc gi la chn ti tt nghip ca mnh l Nghin cu ng dng h iu khin d bo iu khin mc nc bao hi ca nh my nhit in. Trong qu trnh thc hin ti, tc gi c gng hn ch ti a cc khim khuyt, xong do trnh & thi gian cn hn ch v vy khng trnh khi thiu st, knh mong Hi ng Khoa hc v c gi b sung ng gp kin ti c hon thin tt hn. 1.2. Mc ch ca ti Phng php iu khin d bo da trn m hnh ca h thng tht d bo trc cc p ng tng lai, trn c s , mt thut ton ti u ho hm mc tiu s c s dng tnh ton chui tn hiu iu khin sao cho sai lch gia p ng d bo v p ng tham chiu ca m hnh l nh nht. 1.3. i tng v phm vi nghin cu
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Cn c vo vic la chn ti tc gi la chn i tng l nghin cu ng dng h iu khin d bo iu khin mc nc bao hi ca nh my nhit in da vo m hnh mng noron (Neural Network).
Senso
W I
o lng
Bao hi
RL
I P
Van Nc si b sung
Hnh 1.1: S khi iu khin mc nc bao hi
L thuyt iu khin d bo ra i vo nhng nm 1960, song cho n nhng nm 1980 phng php iu khin ny mi bt u pht trin mnh v tr thnh mt lnh vc nghin cu quan trng trong iu khin t ng. Hin nay iu khin d bo c nhiu ng dng thnh cng trong cng nghip ( Richalet, 1993) c bit l lnh vc lc du v ha du. iu khin d bo l chin lc iu khin s dng ph bin nht trong vic iu khin qu trnh. Phng php iu khin d bo da trn m hnh ca h thng tht d on trc cc p ng tng lai, trn c s , mt thut ton ti u ha hm mc tiu s c s dng tnh ton chui tn hiu iu khin sao cho sai lch gia p ng d bo v p ng tham chiu ca m hnh l nh nht. Xem hnh 1.2:
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Hnh 1.2: Cc tn hiu trong iu khin d bo
iu khin d bo m hnh (Model Predictive Control_MPC) l mt trong nhng k thut iu khin tin tin c nhiu ngi a chung nht trong cng nghip, c c iu ny phn ln l do kh nng trin khai cc iu kin rng buc vo thut ton iu khin mt cch d dng m cc phng php iu khin kinh in khc khng c c (chng hn LQG, H ). Kh khn ln nht khi p dng iu khin d bo l xy dng m hnh v gii bi ton ti u ha. i vi h thng phi tuyn th cng vic ny cng kh khn hn do rt kh xy dng c m hnh tt m t chnh xc tnh cht ca h thng v thut ton ti u ha thng phc tp, s lng php tnh ln, thi gian thc hin ko di do phi gii quyt bi ton ti u ha khng li. Chnh v vy m theo thng k c trn 2200 ng dng thng mi s dng k thut iu khin d bo th phn ln trong s ny u tp trung vo cc h thng tuyn tnh, v chi tit c th hin qua hnh 1.3:
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Hnh 1.3: Phn phi cc ng dng MPC theo mc phi tuyn ca h thng
Hnh 1.3 cho thy MPC cha thm nhp su vo cc vng m h thng c tnh cht phi tuyn mnh, nhng y li l nhng vng c th to ra c hi ln nht cho vic p dng k thut iu khin ny so vi cc phng php iu khin truyn thng. Chnh v vy m hng nghin cu trn cc h thng phi tuyn ca lnh vc iu khin d bo nhn c s quan tm hng u trong nhng nm gn y. i vi h thng ng phi tuyn, m hnh c xy dng theo hai cch sau: - M hnh vt l hay m hnh hp trng, l m hnh c xy dng trn c s cc phng trnh vi phn phi tuyn. - M hnh hp en hoc hp xm, l m hnh s dng b xp x tng qut v tp d liu vo ra ca h thng. M hnh vt l thch hp i vi cc h thng n gin, v c th m t tnh cht ca h thng bng cc phng trnh vi phn, trong khi m hnh hp en hoc hp xm thch hp cho cc h thng phc tp hoc trng hp khng bit nhiu thng tin v h thng khi m hnh ha. Do tnh cht phc tp ca cc h thng phi tuyn nn trong thc t dng m hnh hp en hoc hp xm thng c s dng nhiu hn, in
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hnh nht cho dng m hnh ny l: m hnh a thc, m hnh mng nron (neural network) v m hnh m. Trong iu khin d bo, tiu chun quan trng cho vic p dng k thut m hnh ha hp en l: - Cu trc m hnh n gin, tin cy v cho php khai thc trit lng thng tin bit trc v h thng. - M hnh khng qu phc tp, tc c lng tham s khng qu ln. - D dng p dng thut ton ti u ha trc tuyn (on-line) hiu chnh cc thng s m hnh. T nhng phn tch trn cho thy vic chn ti Nghin cu ng dng h iu khin d bo iu khin mc nc bao hi ca nh my nhit in . hon ton ph hp vi xu hng nghin cu v iu khin d bo hin nay, trong m hnh c chn l m hnh mng noron (Neural Network), y l m hnh c tc gi Orlando De Jesus, Martin Hagan xut, v c cu trc hon ton tha mn yu cu ca k thut m hnh ha hp en trn. 1.4. ngha khoa hc v thc tin ca ti a. ngha khoa hc H thng nhiu chiu gp rt nhiu trong thc t nh: h thng bnh nng lnh, h thng x l nc thi, dy truyn sn xut bia, nc ngt, iu khin nhit trong cc l nung lin tc, tay my v.v... T trc n nay cc h thng ny thng c iu khin bng cc h iu khin kinh in nn cha k ht c cc yu t tc ng t bn ngoi. b. ngha thc tin ti a ra mt phng n iu khin mi, nng cao cht lng iu khin, d dng trong thit k v hiu chnh h thng.
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Chng 2 TNG QUAN V IU KHIN D BO iu khin d bo ra i cch y khong vi thp k (t nhng nm 1960 v c nhiu ng dng thnh cng trong cng nghip) (Richalet, 1993). Hin nay iu khin d bo l chin lc iu khin c s dng ph bin nht trong vic iu khin qu trnh. B iu khin d bo dng mt m hnh on trc p ng tng lai ca i tng iu khin ti cc thi im ri rc trong mt phm vi d bo (Prediction horizon) nht nh. Da vo p ng d bo ny, mt thut ton ti u ho c s dng tnh ton chui tn hiu iu khin tng lai trong phm vi iu khin (Control horizon) sao cho sai lch gia p ng d bo bi m hnh v tn hiu chun cho trc l ti thiu (hnh 2.1) [6]. Phng php iu khin d bo l phng php tng qut thit k b iu khin trong min thi gian c th p dng cho h tuyn tnh cng nh h phi tuyn, tuy nhin trong thc t vic p dng chin lc iu khin d bo cho h phi tuyn gp nhiu kh khn. Th nht l phi xy dng mt m hnh ton d bo chnh xc trng thi ca qu trnh cn iu khin trong phm vi d bo.
Thut ton iu khin d bo Hm mc tiu
M hnh
r
To tn hiu chun
w Ti u ho
ui tng
iu khin
(a)
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y HP HC tn hiu t
Tn hiu ra y trong qu kh
tn hiu y d bo
Thi gian
Thi gian
k-1
k+1
k + Hc (b)
....
k + Hp
Hnh 2.1. (a) S khi h thng iu khin d bo (b) Chin lc iu khin d bo
i vi h phi tuyn xy dng c m hnh ton chnh xc l mt bi ton kh v c tnh phi tuyn rt a dng. Th hai phi gii mt bi ton ti u phi tuyn tnh ton chui tn hiu iu khin trong phm vi iu khin, thng l bi ton ti u khng li c nhiu cc tr cc b. Tt c cc thut ton ti u ho phi tuyn u l thut ton lp i hi s lng php tnh rt ln, iu ny lm hn ch kh nng p dng chin lc iu khin d bo vo cc h thng tc cao. Cc nghin cu thit k b iu khin d bo cho h phi tuyn hin nay ch yu tp trung vo vic gii quyt 2 kh khn va nu trn. 2.1. Tng quan v iu khin d bo 2.1.1. iu khin theo m hnh d bo l g? (Model Prediction Control). 2.1.1.1. Khi qut chung v MPC [ 10],[11],[12] Thut ng MPC cha ch r c mt cch chnh xc thut ton iu khin ny l do kh nng ng dng rng ri ca thut ton, phng php s dng m hnh ca i
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Lun vn thc s
tng v ti u ho mt hm mc tiu (Object Funtion) xc nh tn hiu iu khin. Cc bc c bn khi xy dng thut ton iu khin l: * S dng 1 m hnh d bo (d on) gi tr u ra ca qu trnh cc thi im trong tng lai. * Tnh ton ln lt cc tn hiu iu khin bng cch ti thiu ho mt hm mc tiu. * Mi ln (ti thi im hin ti t) cc tn hiu iu khin c d bo th ch c tn hiu u tin c a n tc ng vo qu trnh. C rt nhiu cc thut ton MPC (V d nh LRPC: Long-Range Predictive Control...), s khc nhau gia chng l s dng cc m hnh khc nhau biu din qu trnh, nhiu v hm mc tiu (Cost Funtion) c ti u ho. Phng php iu khin ny c ng dng rt rng ri trong nhiu lnh vc. C rt nhiu ng dng thnh cng nh iu khin qu trnh, iu khin robot, cng ngh sn xut ximng, thp sy, thp chng ct... Nhng kt qu ch ra kh nng ng dng ca MPC v kh nng t c nhng h thng iu khin hiu qu cao, c kh nng lm vic trong thi gian di v c th hin qua cc u im sau: * C kh nng p dng cho nhiu lp i tng, t nhng qu trnh ng n gin n qu trnh phc tp, h thng c thi gian tr di... * i vi cc h a bin cng d dng p dng. * C kh nng t b thi gian cht. * a ra phng php iu khin vt trc * B iu khin tuyn tnh d thc hin trong trng hp khng c iu kin rng buc v tn hiu iu khin. * C kh nng x l cc iu kin rng buc Tuy nhin th MPC cng c nhiu thiu st. Mt trong nhng thiu st l: mc d lut iu khin thc hin d dng nhng tnh ton th phc tp hn b iu khin PID kinh in. i vi cc qu trnh ng c tham s khng i th b iu khin c xc nh trc mt ln, nhng trong iu khin thch nghi th tt c cc php tnh u phi thc hin ti mi thi im ly mu. Nu c cc iu kin rng buc th phc tp hn nn cn phi cn nhc do s lng tnh ton nhiu.
- 17 -
Lun vn thc s
Mc d vy vi kh nng ca cc thit b tnh ngy nay th iu ny khng quan trng na, c bit l cc my tnh iu khin cc qu trnh cng nghip. Mt nhc im ln na ca phng php l phi xc nh c m hnh ca qu trnh. Khi xy dng thut ton iu khin phi da trn nhng hiu bit trc v m hnh, iu ny li l s mu thun gia qu trnh thc v m hnh ng dng. Trong thc t, MPC chng t l mt phng php iu khin hiu qu i vi nhiu h thng iu khin trong cng nghip. 2.1.1.2. Thut ton MPC (MPC stragegy) [5] Thut ton MPC c thc hin bi nhng bc sau v c th hin trn hnh 2.2 Bc 1: Cc tn hiu u ra tng lai nm trong khong c xc nh N, c gi l khong d bo ti mi thi im t nh s dng m hnh ca qu trnh. Cc gi
tr u ra d bo y(t k ) / t , vi k = 1...N ph thuc vo nhng gi tr trc thi im t
cho ti thi im t (cc tn hiu vo, ra trong qu kh v hin ti) v tn hiu iu khin trong tng lai: u(t+k|t), k=1...N-1. Bc 2: Cc tn hiu iu khin tng lai c tnh ton bi vic ti u ho mt tiu chun lm cho h thng ging nh mt h kn vi qu o t trc l w(t+k). Tiu chun ny thng l mt hm bc hai ca sai lch gia u ra d bo v qu o t (gi tr t). Hiu qu ca qu trnh iu khin ph thuc vo hm mc tiu (tiu chun ti u) trong hu ht cc trng hp. Bc 3: Tn hiu iu khin u(t|t) c a n qu trnh trong khi tn hiu iu khin tip theo u(t+1|t) cng c tnh nhng khng s dng, bi v ti thi im ly mu tip theo y( t+1) xc nh v cng c tnh ton nh bc 1 vi nhng gi tr mi. Nh vy u(t+1|t+1) c tnh v khc hn vi u(t+1|t) bi v m hnh c cp nht nhng thng tin mi v i tng.
u(t+k\ t) u(t)
y(t)
y(t+k\ t)
N Time t-1 t+1 .......................t+k..........................t+N S ha bi Trung tm Hc liut i hc Thi Nguyn http://www.lrc-tnu.edu.vn Hnh 2.2 Thut ton
- 18 -
Lun vn thc s
u vo v u ra qu kh (Past Input and Outputs)
M hnh (Model)
u ra d bo (Predicted Outputs) (-)
Qu o t (Reference Trafectory)
u vo tng lai (Future Inputs) B ti u (Optimizer) Sai lch d bo (Future Error)
Hm mc tiu (Cost Function)
iu kin rng buc
Hnh 2.3 Cu trc c bn ca MPC
Nh vy vi thut ton trn, cu trc c bn ca h thng c biu din trn hnh...M hnh d bo u ra ca i tng cn c vo gi tr hin ti, qu kh v tn hiu tng lai. Tn hiu iu khin c xc nh bi mt b ti u ho. K thut iu khin d bo c p dng mt cch linh hot trong lnh vc iu khin qu trnh thng qua vic hiu chnh cu trc b iu khin ph hp vi i tng iu khin cho theo cc thng s rng buc v cc yu cu hot ng ca h thng. Mt b iu khin d bo bao gm 5 thnh phn c bn sau: - M hnh h thng v m hnh phn b nhiu. - Hm mc tiu. - iu kin rng buc. - Phng php gii bi ton ti u ha - Chin lc iu khin dch dn v tng lai. S mt b iu khin d bo tng qut c th m t trong hnh 2.4.
- 19 -
Lun vn thc s
Hnh 2.4: M hnh tng qut b iu khin d bo
Trong hnh 2.4, r(k) l tn hiu tham chiu ca m hnh ti thi im k v chnh l trng thi u ra mong mun ca i tng iu khin; y(k) l tn hiu u ra ca h thng thc; yM(k) l u ra ca m hnh; u(k) l tn hiu iu khin i tng ti thi
im k; u, y l tn hiu iu khin d bo v u ra d bo tng lai tng ng ca h
thng da trn c s m hnh. 2.1.2. M hnh h thng v m hnh phn b nhiu [4] Trong iu khin d bo, m hnh ng vai tr trong vic d on trc cc trng thi tng lai ca h thng v trong vic gii bi ton ti u ha tm tn hiu iu khin. i vi h thng tuyn tnh th m hnh bin trng thi l mt la chn tt nht cho vic m phng h thng v c m t nh sau:
xk 1 yk Ax k Cx k B1e k D1e k B2 D2 k k B3 k
trong x (k) l trng thi ca h thng; e(k) l nhiu trng c trung bnh bng zero;
k l cc thng tin bit trc v h thng trong bao gm phn b nhiu;
v(k) l cc tn hiu u vo h thng; y(k) l tn hiu u ra. i vi h thng phi tuyn, vic m hnh ha chnh xc h thng rt kh khn. Thng thng, i vi dng h thng ny cc m hnh vo ra, m hnh p ng bc, m hnh p ng xung,... c s dng m t h thng. Mt dng m hnh khc rt c a chung hin nay trong vic m hnh ha h thng phi tuyn l m hnh m m c bit l m hnh m vi c s lut ca Takagi v Sugeno. Tt c cc dng m hnh ny s c trnh by chi tit trong phn 2.2.
- 20 -
Lun vn thc s
Trong phm vi lun vn ny, m hnh nhiu c chn l nhiu trng c trung bnh bng zero c cng thm vo u ra ca h thng thc. 2.1.3. Hm mc tiu [6] Hm mc tiu hay cn gi l tiu chun cht lng ca h thng iu khin d bo, l mt thnh phn trong b iu khin phn nh nh hng ca tn hiu iu khin h thng v sai s gia u ra d bo v tn hiu tham chiu ca h thng. Trong iu khin d bo tng qut, hm mc tiu da trn c s tn hiu iu khin v tn hiu u ra, v c dng nh sau:
Hp
J u, k
j 1
j| k
rk
j| k
k
Hc
j| k uT k
rk
j| k j 1| k
2 j 1
j 1| k u k
(2.1)
vi: k Pqyk
- r(k): qu o tham chiu - y(k): u ra ca h thng thc - u k : bin thin ca tn hiu iu khin ti thi im th k - Hp: tm d bo - Hc: Tm iu khin H c Hp
: trng s trn tn hiu iu khin

1 p1q
1
- Pq
...
p np q
np
l mt a thc vi cc cc vng kn mong mun.

j | k l thnh phn d bo ca thnh phn
k j
Trong phng trnh (2.1), k
da trn thng tin bit v h thng cho n thi im th k. bin thin ca tn hiu iu khin ti thi im k l gi tr
uk uk u k 1 v uk j 0 khi j
Nc ,
xc nh s cn bng gia sai s trng thi u ra (thnh phn th nht trong
phng trnh 2.1) v tn hiu iu khin h thng (thnh phn th hai trong phng trnh 2.1), a thc P (q) c th c chn bi ngi thit k b iu khin.
- 21 -
Lun vn thc s
Mt dng hm mc tiu khc c s dng ph bin trong cng nghip c gi l hm mc tiu min (zone performance index), v c dng:
Hp
J u, k
j 1
ek
j| k
ek
Nc
j| k
2 j 1
uT k
j 1| k u k
j 1| k
(2.2)
trong phng trnh 2.2 thnh phn e k j | k nh hng n hm mc tiu ch khi

yk j| k rk j| k
max
k , vi
max
k l thnh phn sai s cho php trong b
iu khin, v:
0 ek j| k yk yk j| k j| k rk rk j| k j| k
max max
; yk k ; yk k ; yk
j| k j| k j| k
rk rk rk
j| k j| k j| k
max max
k k k
max
Cc dng hm mc tiu trn u c th a v dng bc hai tng qut sau:

Hc 1
J ,k
j 0
zT k
j| k
jzk
j| k
(2.3)
trong : - z k : vector cc tn hiu c th xc nh trong h thng
j : ma trn la chn cho (diagonal selection matrix) vi cc gi tri
zero v 1 trn ng cho. Xt hm mc tiu (2.1): chn:

zk k 1 rk 1 uk
v
0 0 j 0 I I 0 0 I ; j ; 0 0 j Hc 1
thay vo (2.3) ta c hm mc tiu (2.1). Xt hm mc tiu (2.2): chn:

zk rk 1 yk 1 uk
- 22 -
Lun vn thc s
v
0 0 j 0 I I 0 0 I ; j ; 0 0 j Hc 1
thay vo (2.3) ta c hm mc tiu (2.2). 2.1.4. iu kin rng buc[6] Vn rng buc l mt trong nhng yu t quan trng, c bit l cc b iu khin ng dng trong cng nghip. Khi iu khin h thng phi lun m bo tn hiu iu khin, trng thi ca h thng khng vi phm cc gii hn cho php, tc l phi lun nm trong vng an ton. V d: khi iu khin cc thng s nhit , p sut, mc cht lng phi lun c gii hn cc i v cc tiu; gii hn v lu lng nc chy trong ng dn; tc xoay cc i ca val;... Mt h thng iu khin sau khi thit k, nu c hiu chnh tt th cc tn hiu s lun gi c khong cch an ton i vi cc iu kin rng buc. Trong cng loi h thng iu khin, nu h thng no gi c khong cch an ton ny ln s c gi thnh cao. Tuy nhin, v l do kinh t nn cc h thng c thit k lun c khuynh hng cc tn hiu bm theo cc iu kin rng buc gim bt cng sc hiu chnh v gi thnh. Trong iu khin d bo, k thut ti u ha c s dng m bo cc rng buc khng b vi phm. i vi h tuyn tnh, cc phng php ti u ha LP (Linear programming) v QP (Quadratic programming) thng c s dng; i vi h thng phi tuyn cc phng php phn nhnh v gii hn (Branch and Bound), phng php Newton, phng php Levenberg -Marquardt,... c s dng. Trong hu ht cc trng hp, vic rng buc th hin bi cc gii hn trn tn hiu iu khin, trng thi v tn hiu ra ca h thng:
u min y min uk yk u max , y max , k hoc k hoc u min y min uk yk u max , k y max , k
Dng rng buc nh trn gi l rng buc bt ng thc. Bn cnh rng buc bt ng thc th rng buc phng trnh cng c s dng trong iu khin d bo. Rng buc phng trnh gip cho b iu khin t ci thin cht lng iu khin. V
- 23 -
Lun vn thc s
d iu kin rng buc cho bin thin ca tn hiu iu khin trong phm vi iu khin Hc l:
uk j| k 0 khi j Hc
iu kin ny lm cho tn hiu iu khin phng hn v b iu khin bn vng hn. Mt v d khc v rng buc phng trnh trn im cui ca trng thi:
x k Hp | k x ss
Trong x l trng thi d bo, Hp l tm d bo v xss l trng thi xc lp ca h
thng. Rng buc ny quan h n tnh n nh v lm cho trng thi h thng thi im cui ca tm d bo t n trng thi xc lp. Ta c th tm tt hai dng rng buc trong iu khin d bo nh sau: Rng buc bt ng thc:
~k ~ ~ k
k khng ph thuc vo u vo tng lai ca h thng; ~ k l mt vector.
Trng hp iu kin rng buc gii hn bi hai gi tr cn trn v cn di nh sau:

~*
min
~* k
~*
max
ta c th a v dng tng qut nh sau:

~ k ~* k ~* k ~*
max
~*
min
Rng buc phng trnh:

~ k 0, ~ k l mt vector.
Phng php iu khin d bo gii quyt tt bi ton iu khin c rng buc, v y cng l l do chnh m phng php iu khin ny c s dng ngy cng ph bin. 2.1.5. Vn ti u ha Trong iu khin d bo, thut ton ti u ha c p dng tnh ton chui tn hiu iu khin tng lai trong phm vi tm iu khin sao cho cc tiu ha c hm mc tiu iu khin theo cc rng buc c cho. i vi bi ton ti u ha tuyn tnh l bi ton ti u ha li, thi gian hi t ca thut ton nhanh v lun tm c li gii ti u ton cc. Mt m hnh tuyn tnh vi
- 24 -
Lun vn thc s
rng buc tuyn tnh v hm mc tiu bc hai (chun 2) th vic tm li gii cho bi ton ti u ha thng dng thut ton QP, nu hm mc tiu l chun 1 hoc chun v cng th thut ton c dng l LP. Khi i tng iu khin l h thng phi tuyn, bi ton ti u ha l bi ton khng li, vic i tm li gii rt d ri vo trng hp ti u cc b, do vic la chn thut ton iu khin rt quan trng. Trong mc sau s trnh by chi tit mt s thut ton ti u ha p dng cho h phi tuyn. Bi ton ti u ha vi cc iu kin rng buc i khi khng tm c li gii, trong nhng trng hp nh vy thut ton iu khin tr nn khng kh thi. Trong trng hp ny cn loi bt hoc gii hn li cc iu kin rng buc thut ton c th tm c li gii ph hp. 2.1.6. Chin lc iu khin dch dn v tng lai (receding horizon control_RHC) Trong RHC, sau khi gii thut ton ti u ha tm c chui tn hiu iu khin tng lai trong phm vi tm d bo th ch c tn hiu iu khin u tin trong chui ny c s dng iu khin h thng, tt c cc thnh phn cn li c dch mt bc (mt mu) v tng lai v qu trnh ti u ha li c bt u. Xem hnh 2.5:
Hnh 2.5: Chin lc iu khin RHC
Xt ti thi im k: chui tn hiu iu khin d bo l u k | k , ... , u k H c 1 | k c ti u ha sao cho hm mc tiu J u, k cc tiu ng vi cc iu kin rng buc
- 25 -
Lun vn thc s
cho. Tn hiu iu khin h thng u (k) c cp nht gi tr mi l u (k|k), ton b cc thnh phn cn li ca chui tn hiu iu khin c dch mt bc v tng lai chun b cho mt qu trnh ti u ha mi. 2.2. M hnh trong iu khin d bo Nh trnh by phn trc, trong iu khin d bo, m hnh ng mt vai tr rt quan trng, chim khong 80% cng sc khi xy dng b iu khin. Cc m hnh ng dng trong iu khin d bo phc v cho hai mc ch sau: - D bo cc p ng u ra tng lai mong mun ca h thng da trn c s cc tn hiu u vo v cc phn b nhiu bit cp nht vo h thng thi im qu kh. - Tnh ton tn hiu u vo k tip cho h thng sao cho cc tiu ha c gi tr ca hm mc tiu iu khin. Nh vy mt m hnh c xy dng tt s cho mt d bo v p ng tng lai chnh xc ca h thng, gip cho vic gii bi ton ti u ha tm tn hiu iu khin chnh xc hn v dn n h thng nhanh chng tin ti trng thi xc lp. Ngc li mt m hnh xy dng khng tt, khng phn nh ng tnh cht ca h thng s dn n mt n nh trong iu khin d cho thut ton iu khin ng. Sau y chng ta s xt mt s loi m hnh tiu biu. C nhiu loi m hnh c th p dng trong iu khin d bo v ngay trong mt b iu khin cng c th dng hai loi khc nhau phc v cho hai mc ch trn. Tuy nhin, trong thc t xy dng mt m hnh tt cho mt h thng l rt kh khn, nn ch c mt m hnh duy nht c dng chung trong b iu khin. 2.2.1. M hnh vo ra (Input Output models) [5] L m hnh m t cc c tnh vo ra ca h thng. M hnh vo ra c chia lm hai loi: - M hnh vo ra trc tip (Direct Input Output models), k hiu l IO: m hnh ny, tn hiu vo c a trc tip vo m hnh. - M hnh vo ra gin tip (Increment Input Output models), k hiu l IIO: bin thin ca tn hiu vo ti thi im hin ti (so vi thi im trc ) c p t vo m hnh.
- 26 -
Lun vn thc s
M hnh IO: Cho h thng ri rc nhn qu v bt bin thi gian c m t nh sau:

yk Go q u k Fo q d o k Ho q eo k
Trong : - Go(q): m hnh h thng. - Fo(q): m hnh phn b nhiu (disturbance). - Ho(q): m hnh nhiu (noise). - y(k): tn hiu ra. - u(k): tn hiu vo. - do(k): tn hiu phn b nhiu bit. - eo(k): nhiu trng c trung bnh zero. - q: ton t dch chuyn, q-1y(k) = y(k-1) Gi tr hm y (k) khng ph thuc vo gi tr hin ti u (k) m ch ph thuc vo cc gi tr qu kh u (k-j), j > 0.
eo(k)
Xem hnh 2.6.

Ho
u(k)
Go
y(k)
Fo Hnh 2.6: M hnh vo ra (IO) Do(k)
C th biu din m hnh di dng phng trnh trng thi nh sau:

xo k 1 yk Ao x o k Co x o k K oeo k DHeo k Lod o k DFd o k Bo u o k
v do , cc hm truyn Go(q), Fo(q) v Fo(q) c cho nh sau:
- 27 Go q Fo q Ho q C o qI A o C o qI A o C o qI A o
1 1 1
Lun vn thc s
Bo DF DH Ko
Lo
C th biu din h thng m t bng bin trng thi nh hnh 2.7
Hnh 2.7: M hnh IO s dng bin trng thi
M hnh IIO: Trong mt s trng hp, ngi ta khng s dng bin u (k) trong m hnh m s dng u k , thnh phn ny c nh ngha nh sau:
uk uk 1 q
1
uk 1
1 q
uk
quk
Trong : dng
uk
c xem l mt ton t gia tng tn hiu u vo. S
cp nht vo m hnh h thng iu khin h thng hot ng theo
bin ng ca tn hiu u vo. M hnh cn kt hp tng ca tn hiu u vo tnh ton gi tr u ra tng ng vi gi tr u vo cp nht vo h thng thc. M hnh IIO c th c biu din di dng sau:
yk Gi q u k Fi q d i k Hi q ei k
Trong , di(k) l phn b nhiu bit v ei(k) l tn hiu nhiu trng. Ta cng c th biu din h thng di dng phng trnh trng thi nh sau:
xi k 1 yk Ai x i k Ci x i k K i ei k DH ei k Li d i k DFdi k Bi u k
Quan h gia cc hm truyn Gi(q), Hi(q) v cc ma trn trng thi l:
- 28 Gi q Fi q Hi q C i qI A i C i qI A i C i qI A i
1 1
Lun vn thc s
Bi DF DH Ki
Li
Quan h gia m hnh IO v m hnh IIO: Cho m hnh IO biu din di dng phng trnh trng thi sau:
xo k 1 yk Ao x o k Co x o k K oeo k DHeo k Lod o k DFd o k Bo u o k
Ta nh ngha cc ma trn h thng:

Ai I Co 0 Ao Bi 0 Bo Ki DH Ko Ci I Co Li DF Lo
Tn hiu nhiu v phn b nhiu bit:

di k ei k
v mt trng thi mi:
do k eo k
do k eo k
do k 1 eo k 1
xi k
xo k
yk 1 xo k
trong , x o k
x o k 1 l mc tng ca trng thi gc.
T phng trnh IO m t h thng ta nhn c:

xo k 1 yk Ao x o k Co x o k K o eo k DH eo k Lo d o k DF do k Bo u k
Tn hiu u ra c dng sau:

yk yk 1 yk 1 yk Co x o k
DH eo k
DF do k
Kt hp li ta c:
yk xo k 1 I Co 0 Ao DF Lo yk I Co yk 1 xo k do k yk 1 xo k 0 Bo DH Ko uk DF do k
eo k
DH eo k
- 29 -
Lun vn thc s
Nh vy ta c th biu din m hnh cho di dng IIO nh sau:

xi k 1 yk Ai x i k Ci x i k K i ei k DH ei k Li d i k DFdi k Bi u k
T y ta nhn thy rng, nu biu din h thng di dng m hnh IO s lm tng s lng cc trng thi trong khi m hnh IIO s lm tng s lng cc u ra. Trong m hnh IO, eo(k) l tn hiu nhiu trng, trong khi m hnh IIO thnh phn e i k
e o k l phn b nhiu bit, c dng nhiu trng v eo(k) tr thnh
thnh phn tch phn ca tn hiu nhiu. Cc hm truyn ca m hnh IIO v m hnh IO c quan h nh sau:
Gi q Fi q Hi q Go q Fo q Ho q
1 1 1
q q
Trong ,
1 q
Thun li ca vic s dng m hnh IIO: L do chnh ca vic s dng m hnh IIO l thu c cc tnh cht tt ca trng thi xc lp ca h thng . Nh ta thy trong m hnh IIO, u ra ca h thng c m t theo bin thin ca tn hiu vo, do s thay i ca trng thi u ra ph thuc rt nhiu vo tc bin thin ca tn hiu u vo v khi u ra t n trng thi xc lp cng c ngha l bin thin ca tn hiu vo l zero. - Xt c im ca trng thi xc lp trong m hnh IO: Cho h thng c m t bi m hnh IO, trong hm truyn G o(q) khng c cc ti q = 1, cho G o 1 ; b qua phn b nhiu (do(k) = 0) v tn hiu nhiu trng
(eo(k) = 0). H thng ny c iu khin bi mt b iu khin d bo cc tiu ha hm mc tiu:

Hp
Jk
j 1
yk
rk
uk
j 1
trong :
- y: u ra m hnh. - u: u vo iu khin.
- 30 -
Lun vn thc s
- Hp: tm d bo. : trng s. - r: tn hiu tham chiu. Tn hiu tham chiu Tn hiu tham chiu r
k
rss 0 (ss: trng thi xc lp) khi
; u v y s t n trng thi n nh vi J (k) = Hp J ss khi k

J ss y ss rss
2 2 2 2
. Trong :
u ss
2 2 T 2u ss G T 1 rss o T rss rss
G o 1 u ss
rss
u ss
T u ss G T 1 G o 1 o
I u ss
Cc tiu ha Jss theo uss c ngha l:

J ss u ss 2 GT 1 Go 1 o
2
I u ss 2G T 1 rss o
Do :
u ss GT 1 Go 1 o
2
G T 1 rss o
Trng thi xc lp ca h thng tr thnh:

y ss G o 1 u ss Go 1 GT 1 Go 1 o
2
G T 1 rss o
R rng y ss
rss khi
0 v do m hnh IO lun c sai s trng thi xc
lp khi rss khc zero v
0.
- c im ca trng thi xc lp trong m hnh IIO: Xt h thng c m t bi m hnh IIO c dng nh phn trn, ta c:
Gi q
1
G o q , h thng c iu khin bi mt b iu khin d bo cc tiu
ha hm mc tiu IIO:
Hp
Jk
j 1
yk 1
rk 1
uk
j 1
Trng thi n nh u ra ca h thng (yss) c xc nh bi y ss bin thin tn hiu u vo ng vi trng thi ny l

u ss
G o 1 u ss v
0 v lc ny tn hiu iu
khin u vo l hng s. trng thi n nh ca h thng ta s t n tnh hung l

Jk H p J ss khi k
vi Jss c xc nh nh sau:
- 31 J ss y ss rss
2 2
Lun vn thc s
u ss
2
Gi tr ti u Jss = 0, t c khi yss = rss v u ss thit k b iu khin d bo da trn m hnh IIO.
0 , iu ny c ngha l khng
xut hin sai s trng thi n nh ca h thng, y chnh l mt u im cho vic
2.2.2. M hnh p ng bc v m hnh p ng xung (Impulse and Step response models) Mt phn ng k cc ng dng ca b iu khin d bo nm trong cc qu trnh cng nghip (industry proccess), vic s dng cc m hnh ng chi tit thng khng ph bin. Vic nhn dng cc c tnh ng ca cc qu trnh ny trn c s cc lut vt l rt kh khn, v do khng c g phi ngc nhin khi m hnh u tin c p dng trong iu khin d bo li l m hnh p ng xung v m hnh p ng bc. Nhng loi m hnh ny d dng m t tt cho cc h thng da trn c s kinh nghim n gin v khong thi gian p ng bc v p ng xung ln. Gi gm v sm l cc tham s p ng xung v p ng bc tng ng ca h thng c hm truyn t G0(q). Khi :
m
sm
j 1
gj
and
gm
sm
sm
; m
1, 2, ...
Hm truyn Go(q) c dng:

Go q
m 1
g mq
1 q
Tng t nh trn, nu gi fm v tm l cc tham s p ng xung v p ng bc tng ng ca m hnh phn b nhiu Fo(q), th:
m
tm
j 0
f j and f m
tm
tm
; m
1, 2, ...
Hm truyn t Fo(q) c dng sau:

Fo q
m 0
f mq
m m 0
t mq
1 q
M hnh p ng xung lc rt gn c nh ngha nh sau:

n n
yk
m 1
gmu k m
m 0
fmdo k m
eo k
- 32 -
Lun vn thc s
n.
trong n l mt s nguyn cho gm ~ 0 v fm ~ 0 ng vi tt c cc gi tr m c chn l nhiu trng. M hnh p ng bc rt gn c nh ngha nh sau:

n 1 n 1
y l dng m hnh IO trong phn b nhiu do(k) bit v tn hiu nhiu eo(k)
yk
m 1
sm u k m
sn u k n
m 0
t mdi k m
do k do k
t ndo k n
eo k
y l m hnh IIO, trong : d i k
d o k 1 l tng ca phn
b nhiu v bin thin ca tn hiu nhiu l:

eo k eo k eo k 1
c chn l tn hiu nhiu trng cng thm mt gi tr offset u ra ca h thng. Do :

eo k
1
q ei k
2.2.3. M hnh a thc [4] Trong mt s trng hp thc t, vic xy dng m hnh h thng da trn c s cc lut vt l bng phng php nhn dng thng s h thng. Trong nhng trng hp ny th mt a thc s c dng m hnh ha h thng v c gi l m hnh a thc. M hnh a thc s dng t thng s hn m hnh p ng bc v m hnh p ng xung, v trong trng hp nhn dng thng s h thng th cc thng s cng c c lng tin cy hn. Xt m hnh vo /ra SISO:
Go q bo q ao q Fo q fo q ao q Ho q co q ao q
Xem hnh 2.8 Trong a0(q), b0(q) v c0(q) l cc a thc theo ton t q -1:
ao q bo q co q fo q 1 a o,1q
1 1
...
a o, na q
nb nc
na
b o,1q 1 f o,0
...
1 1
b o ,nb q ... ...
c o,1q
c o,nc q
f o,1q
f o,nc q
nf
Phng trnh sai phn tng ng vi m hnh IO c cho bi m hnh CARMA (controlled autoregressive moving average):
- 33 ao q y k bo q u k fo q do k
Lun vn thc s
co q eo k
Trong eo(k) c chn l tn hiu nhiu trng.
Hnh 2.8: M hnh a thc
Xt mt m hnh a thc IIO nh sau:

Gi q bi q ai q Fi q fi q ai q Hi q
1
ci q ai q
Trong
fi q
f o q . Do :
ai q
ao q
ao q 1 q
, bi q
b o q , ci q
c o q , v
ai q bi q ci q fi q
a i ,1q
1 1 1
... a o ,1q
a i ,n 1q
1 n n n n
n 1
1 q b i ,1q b o ,1q 1 1 f i,0 f o,0
1 ... ...
1 1 1 1
...
a o ,n q
b i ,n q b o ,n q ... ... ... ...
c i ,1q c o ,1q
c i ,n q c o ,n q
f i ,1q f o ,1q
f i,n q
n n
f o ,n q
Phng trnh sai phn tng ng vi m hnh IIO c cho bi m hnh CARIMA (controlled autoregressive integrated moving average):
ai q y k bi q u k fi q di k ci q ei k
Trong : d i q
q d o k v ei(k) c chn l tn hiu nhiu trng.
- 34 -
Lun vn thc s
2.2.4. M hnh m (Fuzzy Models) Ngoi cc dng m hnh c cp trn, mt loi m hnh mi cng c p dng rng ri trong lnh vc iu khin m hnh trong c iu khin d bo (MPC_model-Based Predictive Control) l m hnh m. M hnh m s dng logic m nh l mt cng c ton hc cho vic xy dng mt tp hp ngn ng di dng ton c s kt hp ca kinh nghim con ngi m t cho hot ng ca h thng C th xem m hnh m nh mt b xp x tng qut (UA_Universal Approximator), l mt dng ca m hnh vo /ra v c th m hnh ha h thng phi tuyn hoc tuyn tnh. Trong cc h thng phi tuyn m hnh m c chia thnh bn dng ph bin: + M hnh sai s u ra phi tuyn. + M hnh sai s u vo phi tuyn. + M hnh sai s u ra tng qut ha phi tuyn. + M hnh sai s u vo tng qut ha phi tuyn. 2.2.4.1. Cc dng m hnh m C s cho vic m hnh ha v nhn dng m hnh m l da trn c s quan st d liu u vo v u ra ca h thng v t to nn mt dng m t ton hc m t cc tnh cht ca h thng cha bit (xem h thng kho st l mt hp en):
yk F u k , ... , u k f u k , ..., u k Np , y k 1 , ..., y k Np , y k 1 , ..., y k Np , Np k nk
(2.4)
Trong : - F(.)v fv (.)l cc hm phi tuyn cha bit . - Np: bc ca m hnh. - w(k): l phn b nhiu. - n(k): tn hiu nhiu ti u ra ca m hnh.
- 35 -
Lun vn thc s
Kt qu nhn dng c chp nhn nu p ng ca m hnh v p ng ca h thng tht l nh nhau khi c p vo cng mt tn hiu iu khin. Do vic nhn dng h thng cng c tnh ton nh qu trnh ti u ho, tc l cng da trn c s mt hm ch tiu cht lng, thng c dng nh sau:
N
E y, y M
k 0
e2 k
Vi y l tn hiu quan st t m hnh tht, yM l tn hiu u ra m hnh v e(k) l sai s gia hai tn hiu ny. Th tc nhn dng c tin hnh vi vic nhn dng cu trc h thng v c lng cc tham s m hnh. Trong thc t, cu trc m hnh lun lun c chn trc theo mt dng m hnh ha no v sau cc thng s trong cu trc ny c iu chnh bng mt th tc ti u ha da trn c s h thng thc. a/- M hnh sai s u ra phi tuyn (Nonlinear Output Error Model) Xt trng hp:
ek yk yM k
Vi:
yM k f u k , ..., u k N , y M k 1 , ..., y M k N
(2.5)
l u ra ca mt m hnh hi qui vi u vo u (k). Dng m hnh ny ny c xem l m hnh sai s u ra phi tuyn.
Hm phi tuyn y
l mt c lng ca hm phi tuyn f (.)v trong trng hp l
tng, c hai hm phi tuyn ny s c gi tr bng nhau. b/- M hnh sai s u vo phi tuyn (Nonlinear Input Error Model) Xt trng hp:
ek uk uM k
(2.6)
Vi: u M k tuyn.
f i y k , ..., y k N , u M k 1 , ..., u M k N
l u ra ca m hnh hi
qui vi u vo y (k), v dng m hnh ny c xem l m hnh sai s u vo phi
- 36 -
Lun vn thc s
Hm phi tuyn f i
l mt c lng ca hm phi tuyn fi(.). Hm fi(.)l nghch
o ca hm f (.),trong trng hp yt (k) c cho bi phng trnh (2.4) v b qua tn hiu nhiu (n(k) = 0) th tn hiu ra ca hm ngc ny c dng ca tn hiu iu khin u (k):
uk f i y k , ..., y k Np , u k 1 , ..., u k Np
Trong hm ngc fi(.)ch c cc c tnh ng ca h thng c nghch o ch khng nghch o tnh tr (delay) ca h thng. Trong trng hp l tng, khi vic
nhn dng l hon chnh th f i fi .
c/- M hnh sai s u ra tng qut ha phi tuyn (Nonlinear Generalized Output Error Model) Nu v phi ca phng trnh (2.5), ta thay th u ra ca m hnh bng u ra ca h thng, ta c:
yM k f u k , ..., u k N , y k 1 , ..., y k N
V nh ngha sai s bi phng trnh:

ek yk yM k
y chnh l dng ca m hnh sai s u ra tng qut ha phi tuyn. M hnh ny c hai tn hiu vo l tn hiu iu khin u (k) v tn hiu ra t h thng thc y (k) v
mt u ra l yM(k). Hm phi tuyn f
l mt c lng ca hm f (.)v trong trng
hp l tng hai gi tr hm ny bng nhau. d/- M hnh sai s u vo tng qut ha phi tuyn (Nonlinear Generalized Intput Error Model) Trong phng trnh (2.6) trn, nu ta thay th tn hiu uM(k) bi tn hiu vo ca h thng u (k) v phi, ta c:
uM k f i y k , ..., y k N , u k 1 , ..., u k N
Sai s m hnh c nh ngha bi:

ek uk uM k
- 37 -
Lun vn thc s
y l dng m hnh sai s u vo tng qut ha. M hnh c hai u vo l tn hiu ra y (k) ca h thng thc v tn hiu iu khin h thng u (k), mt u ra m
hnh l uM(k). Hm phi tuyn f i
l mt nghch o ca hm f(.),v trong trng hp
l tng th gi tr ca hai hm ny l bng nhau.

Xem hnh 2.9
Hnh 2.9a M hnh sai s vo ra song song - ni tip
Hnh 2.9b M hnh sai s vo ra ni tip - song song
Tt c bn dng m hnh sai s trnh by trn c quan h cht ch vi nhau. M hnh u vo v u ra tng qut ha chnh l nghch o ca m hnh sai s u vo
- 38 -
Lun vn thc s
v u ra tng ng. M hnh u vo v m hnh u ra chnh l phn b ca m hnh u vo v u ra tng qut ha trong m hnh tng qut ha ph hp cho vic nhn dng cc h thng phi tuyn vi cu trc bit hoc c gi nh, vic c lng cc thng s cha bit tr thnh vn gii bi ton tuyn tnh v s dng phng php bnh phng ti thiu. y cng chnh l trng hp ca dng m hnh Takagi -Sugeno vi tm ca hm gii m singletons v tp m xc nh trc ca cc bin ngn ng. M hnh vo /ra c ng dng trong iu khin d bo do thng c gi l b d bo hay m hnh m phng. Bn dng m hnh trn c th c hun luyn nh cc b xp x ng tng qut, hm phi tuyn c nhn dng bi b xp x tng qut m (fuzzy universal approximator). Theo dng hnh hc m t cc m hnh hnh 2.9, cc m hnh u vo, m hnh u ra v c hai dng m hnh tng qut ha c th c gi l cc m hnh song song, ni tip, v ni tip -song song tng ng. V cng d dng thy rng cc m hnh tng qut ha u c suy ra t cc m hnh vo ra thng thng. 2.2.4.2. Tnh cht hi t ca cc dng m hnh Mt trong nhng c im quan trng ca vic nhn dng l tnh hi t khi c s hin din ca nhiu. V nhiu trng c xem l c gy bin i nh nht trong tt c cc th tc ti u ha tm kim im cc tiu ca hm ch tiu E y, y M
N
e2 k
k 0
trong thnh phn e (k) tr thnh nhiu trng. Do mt b c lng khng lch ch c th p dng trong trng hp nhiu c tnh cht c bit (gn vi dng ca nhiu trng) v iu ny s c l gii ln lt trn bn dng m hnh sau. a/- M hnh sai s u ra phi tuyn (Nonlinear Output Error Model): Trong trng hp ny thnh phn nhiu w (k) c p t vo u ra ca h thng sch (khng nhiu) yo(k):
yo k yk f u k , ..., u k yo k k Np , y o k 1 , ..., y o k Np
Thnh phn e (k) c xc nh nh sau:

- 39 ek yk yM k k
Lun vn thc s
f u k , ..., u k Np , y o k 1 , ..., y o k Np f u k , ..., u k N , y M k 1 , ..., y M k N
Nu cu trc ca m hnh nhn dng ging cu trc ca h thng thc phi tuyn, th th tc ti u ha cc tiu ha hm mc tiu s c gng thc hin sao cho e (k) tin n gi tr ca tn hiu nhiu trng, do nu w (k) l tn hiu nhiu trng th e (k)
= w(k) v f f , yM k y o k . iu kin mt b c lng khng lch l thnh
phn nhiu c cng thm vo u ra ca m hnh phi l tn hiu nhiu trng v iu ny c th hin hnh 2.10a.
Hnh 2.10: B c lng khng lch trong m hnh c nhiu
b/- M hnh sai s u vo phi tuyn (Nonlinear Input Error Model): Trong trng hp ny, thnh phn nhiu w (k) c cng thm vo u vo ca m hnh sch uo(k):
- 40 -
Lun vn thc s
Np
uo k uk
f i y k , ..., y k uo k k
Np , u o k 1 , ..., u o k
sai s e (k) c vit di dng:

ek uk uM k k
f i y k , ..., y k Np , u o k 1 , ..., u o k Np f i y k , ..., y k N , u M k 1 , ..., u M k N
Nu cu trc m hnh sai s u vo ging cu trc ca h thng thc phi tuyn th

tng t nh trng hp trn ta c: e(k) = w(k) v f i fi , u M k u o k . iu
kin cho b c lng khng lch c m t hnh 2.10b. c/- M hnh sai s u ra tng qut ha phi tuyn (Nonlinear Generalized Output Error Model): Trong trng hp ny, thnh phn nhiu c a vo m hnh nh hnh 2.10c. Phng trnh m hnh tr thnh:
yk f u k , ..., u k Np , y k 1 , ..., y k Np k
v sai s m hnh:
ek yk yM k k
f u k , ..., u k Np , y k 1 , ..., y k Np f u k , ..., u k N , y k 1 , ..., y k N
tng t nh cc trng hp trn, trong trng hp m hnh ha l tng h thng

tht, ta c: e(k) = w(k) v f i fi
v iu kin cho b c lng khng lch c
m t hnh 2.10c. d/- M hnh sai s u vo tng qut ha phi tuyn (Nonlinear Generalized Input Error Model): Thnh phn nhiu c a vo h thng c m t nh hnh 2.10d, Phng trnh m hnh c dng:
uk f i y k , ..., y k Np , u k 1 , ..., u k Np k , v sai s:
- 41 e k u k uM k 1 , ..., u k 1 , ..., u k Np N
Lun vn thc s
f i y k , ..., y k Np , u k f i y k , ..., y k N , u k
cng ging nh trn khi qu trnh m hnh ha h thng l l tng th e (k) = w(k) v
fi fi
. iu kin cho b c lng khng lch c m t hnh 2.10d.
B c lng s khng lch nu cu trc ca m hnh ging vi cu trc ca h thng thc v nhiu trng c a vo m hnh trong mt v tr c bit ph thuc vo kiu m hnh s dng trong nhn dng h thng. Vi m hnh sai s u ra th y l u ra ca b xp x ng tng qut (Universal Dynamic Approximator_UDA); u ra m hnh trong trng hp ny l tng ca cc tn hiu u vo khng nhiu vi nhiu trng. Vi m hnh sai s u vo th y l u vo ca h thng thc; tn hiu u vo ca UDA chnh l tng ca cc u vo khng nhiu vi nhiu trng. Vi m hnh sai s u ra tng qut ha th nhiu trng c a vo trong h thng ti u ra ca UA; tn hiu u ra khng nhiu c a hi tip tr v thnh tn hiu u vo ca UA. Vi m hnh sai s u vo tng qut ha th nhiu trng c a vo h thng ch u vo u tin ca UA. 2.2.5. Mt s m hnh d bo v cc thut ton c th [5] 2.2.5.1. M hnh d bo Smith cho qu trnh c thi gian cht ln a. Thi gian cht ln tc ng ln qu trnh iu khin Thi gian cht c coi l ln khi n tng ng vi hng s thi gian ca qu trnh. Khi p >= Tp th iu khin bm theo im t vi b iu khin PID truyn thng l rt kh. Gi s thi gian cht ca qu trnh bng vi hng s thi gian ca qu trnh (p=Tp) chu k ly mu l 10 ln trong mi khong hng s thi gian ca qu trnh (T=0,1Tp). Vi nhng qu trnh nh th 10 ln ly mu (mt khong thi thi gian cht) phi tri qua sau mt hnh ng iu khin trc khi sensor pht hin ra s nh hng no. Mi hnh ng iu khin gp phi mt s tr rt ln, b iu chnh phi chnh rt chm ph hp vi s chm tr ca qu trnh. V d: H iu khin qu trnh c thi gian cht ln:
- 42 -
Lun vn thc s
Ta xt qu trnh iu khin nhit cho bnh cht lng: (Hnh v 2.11)
Cold liquid
Fsetpoint
F C
Hot liquid
Tsetpoin
TC
t
Hnh 2.11 iu khin nhit ca bnh cht lng
Dng cht lng nng v lnh c kt hp vi nhau u vo ca ng cp, chy dc theo chiu di ca ng trc khi vo bnh. Mc ch iu khin l duy tr nhit trong bnh bng cch iu chnh lu lng nc nng vo ng. Nu nhit trong bnh di im t (qu lnh), b iu khin FC s m van cp cht lng nng. Sensor nhit khng pht hin ngay ra s thay i ca nhit cht lng trong bnh ngay sau s iu khin ny v dng cht lng nng hy cn trong ng. Nu b iu khin c chnh c p ng nhanh (Kc ln, Ki nh), n s m van nhiu ln tng nhit cht lng trong bnh, ng s c iu nhiu cht lng nng hn trc khi cht lng nng u tin c vo bnh. Khi nhit trong bnh bng nhit t th b iu khin s dng s tng cht lng nng vo bnh. Nhng lc ny trong ng vn cn cht lng nng v tip tc vo bnh lm nhit ca bnh tng qu im t. B iu chnh s chnh van cht lng nng c nhiu cht lng lnh
- 43 -
Lun vn thc s
vo ng hn. Tng t nh vy ta thy nhit trong bnh s lun dao ng quanh im t. Mt gii php l chnh li b iu khin, gim h s khuch i hoc tng thi gian iu chnh hnh ng iu khin chm hn. b. M hnh d bo ca Smith Mt gii php khc l s dng m hnh d bo MPC, m hnh ng l mt phn ca thut ton iu khin trong m hnh d bo. Chc nng ca m hnh ng l d bo gi tr tng lai ca bin qu trnh da trn trng thi hin ti ca qu trnh v nhng hnh ng iu khin gn y. Mt hnh ng iu khin l gn y nu p ng n gy ra cho qu trnh vn cn ang tip din. Nu bin qu trnh ny khng ph hp vi im t th s sai lch ny s gy ra mt hnh ng iu khin ngay lp tc, trc khi vn d bo thc s xut hin. M hnh d bo ca Smith theo s hnh 2.12
GD(s) ysp(s) (+) e(s) (-) y(s)
BK G*c(s)
u(s)
Qu trnh Gp(s)
D bo y(t) khi khng c tr
yi(s)
(+)
yi(s)-yp(s) (-) (+)
(+)
TD yp(s)
Hnh 2.12 M hnh d bo Smith da trn cu trc b iu khin
Phng php d bo Smith l phng thc hot ng n gin nht ca l thuyt d bo qu trnh ni chung (mt bin ca phng php d bo Smith c th c to ra t l thuyt MPC bng cch chn c hai im ly mu gn v xa theo phng ngang ca p | T+1 ).
- 44 -
Lun vn thc s
M hnh d bo ca Smith gm mt khi m hnh l tng (khng c thi gian cht) v mt khi m hnh thi gian cht. Qu trnh tnh ton nh sau: * M hnh qu trnh l tng nhn gi tr hin thi ca u ra b iu khin u(t) v tnh gi tr yi(t) l gi tr d bo ca qu trnh o c (u ra d bo), y(t) khi c mt thi gian tr trong qu trnh. * yi(t) c a vo m hnh thi gian tr v c lu gi n khi qua mt thi gian tr p. Ti thi im yi(t) c lu gi tr yp(t) ca ln lu trc s c a ra. Gi tr yp(t) ca ln ny l gi tr yi(t) c tnh ton v lu tr 1 khong thi gian cht trc . Do yp(t) l gi tr d bo m hnh ca gi tr hin thi y(t). M hnh l tng v m hnh c thi gian cht c kt hp vi gi tr thc ca bin qu trnh tnh sai s e*(t) l:
e * (t ) y sp (t ) y (t ) y p (t ) y i (t )
(2.7)
0
Nu m hnh m t chnh xc c qu trnh thc th: y(t ) y p t hay: y(t ) y p (t )

yi t yi (t )
ysp (t ) yi t
(2.8)
v sai s d bo a ti b iu khin l: e* (t )
Do nu m hnh m t c chnh xc qu trnh thc th u vo ca b iu khin s l sai lch gia gi tr t v gi tr d bo ca qu trnh thc, thay v sai lch gia gi tr ca im t vi gi tr thc ca bin qu trnh. D nhin m hnh ng s khng bao gi m t chnh xc trng thi thc ca qu trnh v lp lun trnh by trn khng phn nh c iu ny. Tuy nhin gi s rng kh nng lm gim nh hng ca thi gian tr ln hiu ng ca b iu khin d bo Smith lin quan trc tip n vic m hnh m t qu trnh thc tt n mc no. Cn lu mt s khng ph hp nh gia s d bo m hnh v qu trnh thc cng gy ra nguy him (lm mt tnh n nh ca h thng kn ca qu trnh.) 2.2.5.2. iu khin ma trn ng vng n (DMC) Chc nng ca m hnh l d bo hnh vi tng lai ca qu trnh da trn bin php trong qu kh ca b iu khin v trng thi hin ti ca qu trnh mi ln ly mu. S tnh ton tip theo ca b iu khin l t s so snh ca hnh vi d bo v ng cong gi tr im t mong mun.
- 45 -
Lun vn thc s
M hnh d bo a ra hm mc ch (phng trnh ton) m t c tnh iu khin mong mun. Hm mc ch ny kt hp sai lch thc v sai lch mong mun thnh mt dng thng nht. Nu gi tr ca bin qu trnh o c duy tr im t d bo th mc ch iu khin tho mn. Nu n lc iu khin (mc ca mi bin php iu khin) l nh th qu trnh s khng phi chu nhng thay i t ngt. Do bng cch tm gi tr Min ca hm mc tiu, hnh ng iu khin s c tnh ton sai lch tng lai tin ti khng. Nhng im t tng lai trong hm mc tiu s c tnh ton bng cch s dng m hnh ng. M hnh s d bo gi tr tng lai ca bin qu trnh o c bng cch s dng bin php trong qu kh v trong tng lai ca b iu khin (hnh 2.13) Hm mc tiu s c cc tiu ho bng cch tnh ton mt chui cc bin php u ra ca mt iu khin theo khong tng lai cn d bo. Ch bin php u tin ca b iu khin c thc hin trc khi lp li ton b th tc cho ln tip theo. Ma trn iu khin ng MPC thc hin phn cp da trn mt chui cc vng iu khin PID truyn thng. Phng php ny cng ph hp vi b iu khin nhiu bin, khi hnh ng ca u ra b iu khin x tc ng n gi tr bin qu trnh y. y chng ta tp trung vo thit k v chnh nh cho iu khin vng n. T c th m rng cho trng hp nhiu bin. Gi tr tin on y(n
j ) ca bin qu trnh c tnh ton da vo hnh ng gn
y ca b iu khin, u(n-j), (j=1,2....N).

j N 1
y (n
j)
yss
i 1
ai u (n
i)
i 1 j
ai u (n
i)
d ( n)
(2.9)
Trong phng trnh trn, yss l gi tr khi u ca bin qu trnh trng thi n nh v: ui = ui ui-1 l s thay i u ra ca b iu khin ti y ln ly mu th i, a+i (i=1,2,3...N) l h s n v, N l s mu u ra ca b iu khin trong qu kh tnh t thi im hin ti c s dng tnh ton, d(n) l s sai lch gi tr hin thi ca bin qu trnh vi d bo ca n: d (n)
Past
y ( n) y ( n)
Curent Future Desired poid Setpoint tracking error S ha bi Trung tm Hc liu i hc Thi Nguyn

x
y(n)
d(n) x
- 46 -
Lun vn thc s
Controller output move implemented U
Predicter process variable profile
u(n+j) Computed Controller output profile
n+1
n+2
n+3
n+M
Prediction horizon, M Hnh 2.13. Phm vi d bo
T tm cc tiu ca hm mc tiu DMC nh sau:

p
Min J=
j 1
ysp (n
j)
y sp (n
j)
u (n
i 1
i)
(2.10)
l hng s dng. im cc tiu cho hm mc tiu trn ta c:

j N 1
ysp (n
j ) y sp (n
j)
ysp (n
j ) y ss
i 1
ai u (n
j i)
ai u (n
i 1 j
j i ) d ( n)
(2.11)
Trong : J=1,2,...P T ta rt ra h phng trnh gm P phng trnh tuyn tnh c vit di dng ma trn nh sau:
- 47 e(n 1) . . e( n M ) . e( n P ) a1 a2 . aM . aP 0 a1 . aM . aP
1
Lun vn thc s
0 0 . a1 . aP
M 1 PxM
ysp
0 0 . aM . ap
2
. . . 0 . . . . . . . .
n( n) n(n 1) . . . n(n m 1)
(2.12)
Mx1
Hay ysp
A u
2.2.5.3. Thut ton iu khin GPC (Generalized Predictive Control) GPC l mt thut ton rt ph bin, n gin ca MPC p dng cho h SISO trn c s m hnh CARIMA (Controled Auto Regressive Intergrated Moving Average), ngoi ra cn rt nhiu thut ton ph bin khc nh: + DMC (Dynamic Matrix Control) + MAC (Model Algorithmic Control) + PFC (Predictive Functional Control) + EPSAC (Extended Prediction Self Adaptive Control) + EHAC (Extended Horizon Adaptive Control) GPC d bo u ra da trn c s m hnh CARIMA:
A( z 1 ).y(t ) B( z 1 ) z d u (t 1) C ( z 1 ) e(t )
(2.13)
trong : C(z-1) l nhiu khng o c Tiu chun d bo ti u l gii phng trnh Diophantine. Thut ton ny cng nh cc thut ton khc s dng cc m hnh hm truyn t, c th d dng thc hin bi ton thch nghi bng cch s dng thut ton c lng trc tuyn. GPC s dng hm mc tiu:
N2 2
J ( N1 , N 2 , N u )
j N1
( j ) y (t
Nu
j / t ) w(t
j)
j 1
( j ) u (t
j 1)
(2.14)
trong : ( j), (j) l cc trng s thng chn l hng s hoc tng theo quy lut hm m, w(t+j) l qu o mong mun N1, N2 l thi im u, cui ca khong thi gian d bo tn hiu u ra, Nu l khong thi gian d bo tn hiu iu khin, Nu [N1, N2]. 2.2.5.4. iu khin d bo d bo h phi tuyn da vo m hnh m Mandani Trong nhng nm gn y l thuyt m pht trin rt mnh v p dng thnh cng vo cc bi ton iu khin cng nh nhn dng h phi tuyn. c nhiu
- 48 -
Lun vn thc s
nghin cu s dng m hnh m Tagaki-Sugeno trong h thng iu khin d bo (Espinosa v cc ng tc gi 1999; Hajili v Wertz, 1999; Roubos v cc ng tc gi, 1999). M hnh m Tagaki-Sugeno khng s dng c trit tri thc, kinh nghim ca cc chuyn gia trong vic gii bi ton nhn dng h thng. Nhiu thut ton ti u ho khc nhau c p dng tm tn hiu iu khin d bo ti u cho h phi tuyn, mi thut ton c nhng u im cng nh nhng hn ch nht nh (Roubos v cc ng tc gi, 1999). Phng php n gin nht l tm li gii ti u cho tng m hnh tuyn tnh cc b, tn hiu iu khin h thng c tnh bng trung bnh c trng s ca li gii cc b theo quy tc h m. Phng php ny c khuyt im l tn hiu iu khin suy ra t cc li gii ti u cc b cha chc l li gii ti u ca h phi tuyn. Thut ton QP (Quadratic Programing) l thut ton thng dng nht tm li gii bi ton ti u phi tuyn khng rng buc v c rng buc, cc thut ton ny tm kim li gii ti u da vo o hm nn d ri vo cc tr cc b. Thut ton r nhnh v gii hn (Branch-and-Bound)l thut ton tm kim li gii ton cc trong khng gian ri rc, nu chia khng gian tm kim thnh nhiu mc th tc tm kim rt chm, nu chia t mc th chnh xc ca li gii gim i. Phng php iu khin d bo h phi tuyn da vo m hnh m Mamdani v thut ton ti u ho Levenberg-Marquardt. Bng cch s dng m hnh m Mamdani, kinh nghim ca cc chuyn gia c s dng trit trong vic gii bi ton nhn dng. tng xc sut li gii ti u tm c chnh l li gii ti u ton cc thut ton Levanberg-Marquardt c chy nhiu ln vi gi tr khi ng khc nhau. Thut ton Levenberg-Maquardt hi t tng i nhanh nn phng php iu khin d bo xut c th p dng iu khin thi gian thc cc qu trnh trong cng nghip. 2.3. Gii bi ton iu khin d bo 2.3.1. B d bo Cho phng trnh trng thi m t h thng nh sau:
xk 1 yk zk Ax k C1 x k C2x k B1e k D11e k D 21e k B2 D12 D 22 k k k D 23 k B3 k
(2.15)
- 49 -
Lun vn thc s
trong x (k) l trng thi h thng; e(k) l nhiu trng c trung bnh bng zero; v(k) l tn hiu iu khin;
k l vector cc tn hiu bit bn ngoi h thng nh tn
hiu tham chiu, phn b nhiu bit; z(k) l tn hiu c d bo. Tn hiu iu khin v (k) c th s dng l tn hiu u (k) hoc bin thin Tn hiu d bo z (k) c th chn cc tn hiu x (k), y(k) hoc r (k) - y(k).
Ti thi im k, da trn m hnh (2.15) ta xy dng thnh phn z k j | k d
uk.
bo cho z k j | k trn c s cc thng tin bit v h thng cho n thi im k v tp tn hiu iu khin
k|k , k 1 | k , ... , k Hc 1 | k . Ta nh ngha vector
~ k cc thnh phn d bo z k z
j | k trong phm vi d bo Hp; vector ~ k cc tn
hiu iu khin hiu tham chiu
k k
j 1 | k trong phm vi tm iu khin Hc; vector ~ k cc tn j | k . Ta c:

k|k k 1| k k H c 1| k k 1| k ; ~k k k Hp | k 2|k
~k z
z k 1| k z k 2|k z k Hp | k
; ~k
Mc ch ca d bo l tm thnh phn c lng ca ~ k da trn thnh phn z

~ z p ng t do (free-response) ~0 k v ma trn d bo D 23 theo phng trnh sau:
~k z ~ k z0 ~ D 23 ~ k
z Thnh phn ~0 k l thnh phn d bo khi tn hiu iu khin ~ k l zero. Thnh
phn ny ph thuc vo trng thi hin ti x (k), cc thng tin bit nhiu e (k) ca h thng. 2.3.2. iu khin d bo khng rng buc Cho h thng c m t bi phng trnh trng thi nh sau:
xk 1 yk zk Ax k C1 x k C2x k B1e k D11e k D 21e k B2 D12 D 22 k k k D 23 k B3 k
k v tn hiu
(2.16)
v hm mc tiu tng qut:
- 50 Hc 1
Lun vn thc s
(2.17)
J ,k
j 0
zT k
j| k
jzk
j| k
trong trng hp ny ta khng xt n cc rng buc ca h thng. Hm mc tiu (2.17) c cc tiu ha ti mi thi im ri rc k tm chui tn hiu iu khin d bo ~ k . S dng lut d bo:
~k z ~ k z0 ~ D 23 ~ k
(2.18)
vi:
~ k z0 ~ C2 x k ~ D 21e k ~ D 22 k
Chn
j l tn hiu tham chiu ca h thng trong ton tm d bo. Ta c th
trnh by li hm mc tiu (2.17) di dng vector nh sau:

J ,k ~T k z ~k z
(2.19)
trong
diag
0,
1 , ...,
Hc 1 .
nh ngha ma trn H, vector f(k) v mt gi tr dng c (k) nh sau:

H ~ 2D T 23 ~ D 23 ; f k ~ 2D T ~0 k 23 z ; ck ~T k z0 ~ k z0
Kt hp (2.18), (2.19) v cc nh ngha trn ta c:

J ,k ~ ~ T k DT 23 ~ D 23 ~ k ~ 2~ T k D T 23 ck ~ k z0 ~T k z0 ~ k z0
1 ~T k H~ k 2
~T k f k
(2.20)
Cc tiu ha hm mc tiu (2.20) chnh l i tm cc tiu ca mt phng trnh i s. Ta c th thc hin vic ny bng cch gn o hm ca hm mc tiu bng zero:
J ~ H~ k f k 0
Nu tn ti nghch o ca ma trn H, ta c:
~k H 1f k ~ ~ D T D 23 23
~ DT 23
~ k z0
(2.21)
- 51 -
Lun vn thc s
S dng chin lc iu khin dch dn v tng lai, do tn hiu iu khin h thng ti thi im k c xc nh nh sau:
k|k I 0 0~ k E ~k
thay (2.21) vo phng trnh trn:

k|k ~ E DT 23 Fx k ~ D 23 Dee k
1
~ DT 23 D
~ k z0 k
: - F
~ E DT 23
~ D 23 ~ E DT 23
~ DT 23 ~ D 23
~ C2
1
- De
- D -E
~ DT 23
1
~ D 21 ~ D 22
~ E DT 23
I 0 0
~ D 23
~ DT 23
nh l 2.1: Cho h thng (2.16), iu khin d bo khng rng buc trn h thng thng qua cc tiu ha hm mc tiu (2.17) s tm c tn hiu iu khin ti u c dng:
k Fx k Dee k D ~k
2.3.3. iu khin d bo vi rng buc phng trnh Cho h thng c m t nh phng trnh (2.16) v hm mc tiu (2.17). Bi ton iu khin d bo vi rng buc phng trnh l i tm li gii:
min ~ T k z ~ ~k z
theo iu kin rng buc:

~ k ~ C3 x k ~ D 31e k ~ D 32 ~ k ~ D 33 ~ k 0
Xt rng buc phng trnh:

C
(2.22)
- 52 -
Lun vn thc s
R m x1 ,
vi ma trn C R m x n c hng y theo hng (full-row rank),

m
R n x 1 v
n . nh ngha C r nh mt nghch o bn phi ca C, C r nh phn b bn phi
ca ma trn C. Khi , tt c gi tr
tha mn (2.22) c cho bi:

Cr Cr
n m x1
l gi tr ty .
~ ~ ~
r r Ta nh ngha D 33 v D 33 l nghch o bn phi v phn b bn phi ca D 33 . Tt
~ c cc tn hiu iu khin d bo ~ tha mn iu kin rng buc k
0, c cho
bi:
~k ~r ~ ~ D 33 C 3 x k D 31e k ~r ~ k D 33 ~ k E ~ D 32 ~ k ~r D 33 ~ k
Thay th vo phng trnh (2.18) v rt gn, ta c:

~k z ~ k zE ~ ~r D 23 D 33 ~ k
(2.23)
trong :
~ k zE ~ C2 ~ ~r ~ D 23 D 33 C 3 x k ~ D 21 ~ ~r ~ D 23 D 33 D 31 e k ~ D 22 ~ ~r ~ D 23 D 33 D 32 ~ k
Thay (2.23) vo hm mc tiu tng qut (2.17) v rt gn, ta c:

J ,k 1 ~T ~ H 2
~r 2 D 33
T
fT k ~ k
~ DT 23 ~ ~r D 23 D 33
T
ck
trong : - H
-f k - ck
~r 2 D 33
~T zE
~ DT 23
~ k zE
~ zE
Gii bi ton cc tiu ha tm tn hiu iu khin ti u bng cch gii phng trnh:
J ~ H~ k f k 0
v do :
- 53 ~k Ee E e ~E k z ~r T ~ D 33 D T 23
Lun vn thc s
~ ~r D 23 D 33
~r D 33
~ DT 23
Ta tm c lut iu khin d bo nh sau:

~ k|k F De D E ~k Fxk De e k D ~r ~ ~r ~ E D33 E e D23 D33C 3 ~r ~ ~r ~ E D33 E e D23 D33 D31 ~r ~ ~r ~ E D33 E e D23 D33 D32 ~k ~ ~r D33 E e C 2 ~r ~ D33 E e D21 ~r ~ D33 E e D22 ~r ~ D33C 3 ~r ~ D33 D31 ~r ~ D33 D32
nh l 2.2: Cho h thng (2.16), iu khin d bo vi iu kin rng buc:

~ k ~ C3 x k ~ D 31e k ~ D 32 ~ k ~ D 33 ~ k 0
trn h thng thng qua cc tiu ha hm mc tiu t (2.17) s tm c tn hiu iu khin ti u c dng:
k Fx k Dee k D ~k
2.3.4. iu khin d bo vi y rng buc nh l 2.3: Cho h thng (2.16), iu khin d bo vi cc iu kin rng buc:
~ k ~ C3 x k ~ D 31e k ~ D 32 ~ k ~ D 33 ~ k 0
v
~ k ~ C4 x k ~ D 41e k ~ D 42 ~ k ~ D 43 ~ k ~ k
trn h thng thng qua cc tiu ha hm mc tiu t (2.17) tm tn hiu iu khin ti u. Ta nh ngha:
- 54 -
Lun vn thc s
A b
H f k
~ ~ D 43 D r43 ~ ~ k k E ~ ~ ~r ~ ~ ~ ~r ~ C 4 D 43 D 33 C 3 x k D 41 D 43 D 33 D 31 e k ~ ~ ~r ~ ~ D 42 D 43 D 33 D 32 ~ k k ~r T ~ ~ ~r 2 D 33 D T D 23 D 33 23 ~ ~ ~r ~ ~ ~ ~r ~ C 2 D 23 D 33 C 3 x k D 21 D 23 D 33 D 31 e k ~r T ~T 2 D 33 D 23 ~ ~ ~r ~ D 22 D 23 D 33 D 32 ~ k
Lut iu khin ti u ha hm mc tiu theo cc iu kin rng buc c cho bi:

k ~r ~ E D 33 C 3 x k ~ D 31e k ~ D 32 ~ k ~r E D 33 ~ k
trong ~ c xc nh t thut ton qui hoch tuyn tnh bc hai:

min ~
k
1 ~T k H~ k 2
fT k ~ k
theo iu kin rng buc:

A ~k b k 0
nh l 2.3 c th c chng minh d dng bng phng php phn tch nh mc 2.3.2 v 2.3.3. 2.4. S dng mng noron (Neural Network) nhn dng i tng Mng nron nhn to l vic dng k thut ti to li mt vi chc nng tng t nh b no con ngi. Trong k thut, mng nron thc hin c nhiu bi ton nh nhn dng, iu khin, nhn mu, gii quyt tt nhng bi ton phi tuyn, ti u, T nghin cu v nron sinh vt ngi ta a ra c m hnh ca mt nron nhn to nh sau: Trong m hnh trn nron c nhiu u vo v mt u ra. Quan h gia u ra v cc u vo ca nron th i c biu din: yi = ai(qi) = ai(fi(x)) (3.50)
x1
Wi1 qi WiR
i
xR -1
ai
yi
Hnh 2.14. M hnh nron nhn to th i
- 55 -
Lun vn thc s
Trong :
x - vc t bin u vo; ai - hm chuyn i (hm kch hot); yi bin u ra ca nron th i;

R
qi
f i ( p)
j 1
w ij x j
- tng trng s;
wij - trng s lin kt gia u vo th j vi nron th i

i
- ngng kch thch hay c ch ca nron th i
Hm tch hp fi thng c dng l: Hm tch hp tuyn tnh:

R
qi
f i ( p)
j 1
w ij x j
(2.24)
Hm tch hp bc hai:
R
qi
f i ( p)
j 1
w ij x 2 j
(2.25)
Hm kch hot ai cng c th s dng mt s hm c bn sau: Hm chuyn i tuyn tnh (Liner function) a(q) = q Hm du (hm ngng: threshold function)
a(q) sgn( q) 1 neu 1 neu q 0 q 0
(2.26)
(2.27) Hm tuyn tnh bo ho:

a(q) sgn( q) 1 q 0 neu q 1 neu 0 q 1 neu q 0
(2.28)
Hm sigmoid mt cc ( Unipolar sigmoid function )

a (q) 1 1 e
q
(2.29)
Hm sigmoid hai cc ( Bipolar sigmoid function )
- 56 -
Lun vn thc s (2.30)
a (q )
2 1 e
Mng nron (neural network) c hnh thnh t vic lin kt cc nron theo nhng nguyn tc khc nhau. Vic phn loi chng cng c nhiu cch: Theo s lp c trong mng nron: mng mt lp, mng nhiu lp. Theo hng kt ni tn hiu trong mng: mng nron truyn thng, mng nron hi quy. Theo tnh cht lm vic: c mng tnh, mng ng. Ngoi ra vic kt hp gia s lp c trong mng, hng kt ni tn hiu trong mng, tnh cht lm vic ca cc nron trong mng m ta c cc mng khc nhau:
xR yS x2 y2 x1 y1
Hnh 2.15. Mng truyn thng 1 lp
Mng nron truyn thng mt lp: l mng m cc nron to thnh mt lp v ng truyn tn hiu theo mt hng. S nron trong mt lp chnh l s u ra ca lp . Quan h vo ra ca mng c dng:
y a i (f i ( x ))
(2.31)
Trong : y = [y1 y2 yn]T l vect tn hiu ra x = [x1 x2 xn]T l vect tn hiu vo ai ; fi l hm chuyn i v hm kch hot ca nron th i (thng thng cc hm ny chn ging nhau cho tt c cc nron trong mng) Mng nron truyn
x1
thng nhiu lp: Gm nhiu lp ni lin tip vi nhau, u ra ca lp ny c ni vi u vo ca lp ngay sau n. Lp u tin l lp vo (input layer) c R u vo v S1 u ra. Lp cui cng l lp ra (output layer) c Sn-1
y1
x2
y2
xR
yS
Lp vo
Lp n
x1
Lp ra
y1 y2
Hnh 2.16. Mng truyn thng nhiu lp

x2
xR
http://www.lrc-tnu.edu.vn y
S
Hnh 2.17. Nt t truyn ngc
- 57 -
Lun vn thc s
u vo v S u ra. Gia chng c th c mt s lp cng ni lin tip nhau gi l cc lp n (hidden layer), chng ng vai tr trung gian trong mng, khng tip xc trc tip vi bn ngoi. Cc nron trong mi lp c ni theo cu trc ghp ni tun hon, ngha l mi nron s c ni vi tt c cc tn hiu vo ca lp v cc nron trong cng lp c cu trc ging nhau. Mng nron phn hi (feedback network): Mng nron phn hi cn gi l mng hi quy (recurrent network) l loi mng m tn hiu ra ca nron c a ngc tr v lm tn hiu u vo cho nron lp trc n hoc cng lp to thnh cc vng kn.
x1 x2 y1 x1 y2 x2 xR yS xR yS y2 y1
Hnh 2.18. Mng truyn ngc 1 lp
Hnh 2.19. Mng truyn ngc nhiu lp
Hc ca mng nron: vic hc ca mng nron l qu trnh i xc nh cc ma trn trng s ca cc nron v xc nh c cu trc ng ca mng gii quyt c nhng yu m bi ton ra. Nh vy mng nron cn hc: Hc cu trc (Structure
x
learning): L xc nh cu trc ca mng nron bao gm s lp, s nron trong mi lp cng nh s lin kt gia cc nron. Hc tham s (Parameter
Mng nron W e
Thit b pht tn hiu sai lch
Hnh 2.20. M hnh hc c gim st
learning): L xc nh cc trng s lin kt ng vi mng nron cho. C ba phng php hc: Hc c gim st H (Supervised learning): hc c tn hiu ch o l phng php hc c thy a ra cc yu cu m u ra ca mng cn t c. Khi sai lch gia u ra ca mng v u ra yu cu th hin kt qu hc, qu trnh hc thnh cng
- 58 -
Lun vn thc s
l sai s ny nm trong gii hn cho php. Tn hiu gim st l nhng thng tin mong mun d c cp t bn ngoi m u ra ca mng cn phi t c. Hc cng c (Reinforcement learning): Thng tin cung cp t bn ngoi d (tn hiu cng c) mang tnh nh hng qu trnh hc (cho bit tn hiu ra ca mng ng hay sai). Hc khng gim st
x Mng nron W y x Mng nron W e y
Thit b pht tn hiu nhn xt
Hnh 2.21. M hnh hc cng c
(Unsupervised learning): Qu trnh hc khng c bt k mt thng tin no t bn ngoi. Mng phi t xc nh cc cp d liu mu, cc tnh
Hnh 2.22. M hnh hc khng gim st
cht, cc mi quan h to c ma trn trng s lin kt mong mun. Mng vi c ch hc khng gim st c gi l mng t t chc (Self - Organizing). Theo mt s ng dng, mng nron nhn to c kh nng nhn dng (nh, vt th, ting ni) x l thng tin c nhiu, khng y , khng chc chn, m. Mng nron c kh nng x l song song vi tc x l nhanh do vy n l cng c mi y ha hn trong khoa hc tnh ton, nhn dng, iu khin t ng cng nh nhiu lnh vc khc. Cc h s dng n c th tng tc x l v tnh ton theo thi gian thc. Mng nron nhn to c kh nng hc thch nghi, n s thch ng vi qu trnh t chnh trong qu trnh iu khin t ng. Mng nron c kh nng tng qut ho do c th p dng d bo li h thng trnh c nhng s c ng tic m cc h thng iu khin c th gy ra. Mng nron c th phi hp c nhn dng v iu khin i tng do thc hin nh mt b iu khin thch nghi. Vic t nghin cu a mng nron nhn to p dng vo qu trnh iu khin t ng c nhiu nh khoa hc thc hin v a ra c nhiu kt qu quan trng. Theo Hunt (1992) th mng Hopfield c th dng lm b iu khin cho h ng hc tuyn tnh. Trong trng hp ny ngi ta dng cc phn t ca cu trc nron
- 59 -
Lun vn thc s
thay i c xy dng b iu khin. B iu khin a ra cha ng s thch nghi v t bn tt. Theo Chu th mng Hopfield c th dng lm mt phn ca c ch thch nghi trong nhn dng h tuyn tnh. Trong trng hp ny, mng tham gia vo vng thch nghi v c dng ti thiu tc sai s bnh phng tc thi ca tt c cc trng thi. Cc u ra ca mng c dng th hin cc tham s ca m hnh i tng dng tuyn tnh c tham s thay i theo thi gian hoc tham s bt bin. Chang, Zhang v Sami cho bit mng Hopfield cng c th kt hp vi mng Gabor nhn dng h phi tuyn. Trong trng hp ny, mng bao gm ba lp. Lp th nht gi l b to hm s dng mng Gabor to hm phi tuyn c s Gabor. Lp th hai dng mng Hopfield ti u cc trng s lin kt cha bit. Lp th ba c gi l mng iu khin tnh sai s c lng v iu khin lp th nht v th hai. H khng yu cu phi n nh tim cn m ch cn cc u vo - ra gii hn v n nh i vi cc kt qu c coi l hp l theo min vo - ra ln. Mng phn hi Hopfield c dng tng hp h iu khin tuyn tnh c phn hi thng qua t cc. Trong trng hp ny mng nron c kh nng gii nhng bi ton qui hoch li. thu c ma trn phn hi trng thi thng qua t im cc, ngi ta dng mng nron phn hi kiu Hopfield. Phng php ny c u im so vi cc phng php truyn thng khc l tng hp on - line v t chnh thng qua mng nron phn hi v c kh nng t ng c t im cc v ti thiu chun m khng cn hun luyn trc. Phng php ny s dng bn cht vn c ca mng l x l song song nn c th dng trc tip trong cc ng dng iu khin theo thi gian thc. Mng phn hi c th dng lm b nh lin kt. B nh lin kt c th s dng nh b suy din m. Yun Ki Lei v cc ng s s dng mng truyn thng ba lp ly tn hiu sai s iu chnh tham s Kp, Ki, Kd ca b iu khin PID. u vo hiu chnh mng trong trng hp ny s dng lch gia sai s chun v sai s thc cu h. Abiev cng nu s chnh nh trc tip cc h s ca b iu khin PID vi mng nron ba lp truyn thng. Mng lc c m t theo cc lut m if then
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Lun vn thc s
Allon Gues cng nu mt phng php tuyn tnh ho quanh im cn bng ca mng Hopfield lin tc nhm xc nh h s ca m hnh bng cch rt ra v gii n (n+1) phng trnh v bt phng trnh (n l s phn t nron). Phng php Liapunov s dng xc nh nghim n nh tim cn cho mng. Cc vng n nh ca mng dng lm cc vng iu chnh tham s ca b iu khin PD. y l phng php tng hp mng kt hp vi tiu chun n nh Liapunov xc nh cc trng s lin kt ca mng lin tc cho tng phn t nron, mi nron chnh mt tham s ca b iu khin PD. Mng nron RBF vi kh nng ng dng trong iu khin thch nghi h phi tuyn c cu trc thay i. Trn c s phn tch u nhc im ca mng RBF l kh nng sinh v dit nron. Mng truyn thng nhiu lp vi kh nng xp x cc hm phi tuyn bt k vi chnh xc tu do ngy cng c ng dng trong cc bi ton iu khin. Mng nron v ang c ng dng vo cc lnh vc truyn thng nh nhn dng knh, m hnh ho knh, m ho v gii m, hiu chnh knh C th s dng mng nron lm b chuyn i tng t - s cng nh dng mng nron tuyn tnh ho cc c tnh phi tuyn. Trong y hc mng nron c ng dng trong x l in no vic ny gip cho qu trnh chun on bnh c dng v chnh xc hn. Trong lnh vc x l hnh nh, ch vit, ting ni mng nron cng c s dng nhn dng cng nh x l k t, ch vit, ting ni, hnh nh
c bit trong lnh vc iu khin mng nron cng ang c nghin cu v ng dng nhn dng v iu khin cc h truyn ng.
2.5. Kt lun Ni dung ton chng 2 cp n mt s vn c bn trong iu khin d bo nh sau: + M hnh d bo l g, thut ton iu khin m hnh d bo + Cc khi chnh trong m hnh iu khin d bo: m hnh, hm mc tiu, to tn hiu chun, thut ton ti u ho, i tng iu khin.
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Lun vn thc s
+ Phn tch cc khi chnh trong m hnh d bo v gii bi ton iu khin d bo. + Mt s m hnh d bo v cc thut ton c th. * u, nhc im ca mt s m hnh trn Mi mt dng m hnh u c nhng u im v hn ch nht nh. Tuy nhin tu thuc vo i tng iu khin v tnh cht ca h thng m chng ta la chn m hnh no cho ph hp. + u im: - M hnh vo ra (c th l m hnh vo ra gin tip IIO): c u im ni bt l khng xut hin sai s trng thi n nh ca h thng, thu c tnh cht tt ca trng thi xc lp ca h thng. - M hnh p ng bc v m hnh p ng xung: d dng m t tt cc h thng da trn c s kinh nghim n gin v khong thi gian p ng bc v p ng xung ln. - M hnh a thc li c u im: l s dng t thng s hn m hnh p ng bc v m hnh p ng xung, v trong trng hp nhn dng h thng th cc thng s cng c c lng tin cy hn. - M hnh m: l mt dng ca m hnh vo ra v c th m hnh ho h thng phi tuyn. M hnh m s dng lgic m nh l mt cng c ton hc cho vic xy dng mt tp hp ngn ng di dng ton c s kt hp kinh nghim ca con ngi m t hot ng ca h thng. Trong nhiu trng hp mt b iu khin m n gin cng c th iu khin mt h phi tuyn phc tp v cho php lp li cc tnh cht ca b iu khin kinh in. c bit, cc b iu khin m cho php thit k rt a dng v qua vic t chc cc nguyn tc iu khin v chn tp m cho cc bin ngn ng cho php thit k cc b iu khin m khc nhau. Mt im quan trng na l khi lng cng vic cn thc hin khi thit k mt b iu khin m hon ton khng ph thuc vo c tnh ca i tng c tuyn tnh hay khng tuyn tnh. iu c ngha l qu trnh x l mt b iu khin m vi nhng nguyn tc iu khin cho cc i
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Lun vn thc s
tng c c tnh ng hc khc nhau hon ton nh nhau. Ngoi ra, cc h loogic m c th a vo mng nron c ch suy din da trn lut ni ting If then. + Nhc im: - M hnh vo ra: Nu l m hnh vo ra trc tip (IO) lm tng s lng cc trng thi, nu l m hnh vo ra gin tip (IIO) lm tng s lng cc u ra. - M hnh p ng bc v m hnh p ng xung: s dng nhiu thng s v trong trng hp nhn dng h thng th thng s c c lng t tin cy hn so vi m hnh a thc. V nhng u im v hn ch trn y ca cc dng m hnh s dng trong iu khin d bo. Tc gi la chn m hnh mng noron v n c mt s u im ni bt sau: Trong nhng ng dng h thng iu khin, mng noron nhiu lp trong truyn thng vi hun luyn c gim st thng c dng nhiu nht. Mt c tnh chnh ca mng ny l chng c th to nhng nh x vo - ra m c th xp x bt k hm no vi chnh xc mong mun. Mng noron c dng trong nhng h thng iu khin ch yu l nhn dng v iu khin h thng. Trong nhn dng h thng, m hnh p ng vo ra ca mt h thng ng, mng c hun luyn dng d liu vo - ra v trng s mng c iu chnh thng dng thut ton lan truyn ngc. Gi nh duy nht l nh x tnh phi tuyn c to bi mng c th i din y p ng ng ca h thng trong khong kho st ca mt ng dng c th. Mng noron cn c cung cp thng tin v h thng: nhng u vo v ra nhng ln trc, bao nhiu thng tin c yu cu ph thuc vo chnh xc mong mun v ng dng c th. Khi mt mng nhiu lp c hun luyn nh mt b iu khin, hoc nh mt vng lp kn hay m, hu ht nhng vn ny u tng t trng hp nhn dng. Khc bit c bn l u ra mong mun ca mng l u vo iu khin thch hp c dn n thit b l khng c c nhng phi c suy ra t u ra mong mun ca thit b. t c iu ny, ngi ta dng hoc l xp x da trn m hnh ton hc ca thit b (nu c c), hoc m hnh mng noron ng ca thit b hay thm ch m hnh ng o ngc ca thit b. Mng noron c th c kt hp nhn dng
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Lun vn thc s
v iu khin thit b. Ngoi ra mng nron cung cp cu trc tnh ton v kh nng hc trong cc h lgic m trong vic kt hp iu khin m v mng nron. Hin nay iu khin d bo l chin lc iu khin c s dng ph bin nht trong iu khin qu trnh v n c mt s u im so vi b iu khin kinh in trc y. c bit l iu khin i tng phi tuyn phc tp, vic nhn dng ra m hnh i tng l mt vic lm v cng quan trng trong iu khin qu trnh. Vi nhng i tng phi tuyn phc tp (h phi tuyn nhiu chiu) chng ta s dng m hnh a thc, m hnh mng nron (neural network) v m hnh m nhn dng i tng. H thng nhiu chiu gp rt nhiu trong thc t nh: h thng bnh nng lnh, h thng x l nc thi, dy truyn sn xut bia, nc ngt, iu khin nhit trong cc l nung lin tc, tay my, iu khin ng bay ca my bay, iu khin chuyn hng t.v.v...T trc n nay cc h thng ny thng c iu khin bng cc h iu khin kinh in nn cha k ht c cc yu t tc ng t bn ngoi. nc ta c mt s tc gi nghin cu v a ra mt s sn phm v lnh vc iu khin d bo, l: 1. Bi bo: iu khin d bo h phi tuyn da vo m hnh m. Nhm tc gi: Nguyn Thc Loan, Nguyn Th Phng H, Hunh Thi Hong. Nm 2002. 2. Lun vn thc s: Nghin cu iu khin qu trnh theo m hnh d bo. Tc gi: Nguyn ng Khang, nm 2005, i hc Bch khoa H Ni. 3. Lun vn thc s: Nghin cu ng dng h iu khin d bo iu khin i tng phi tuyn. Tc gi: Vn Chung, nm 2007, i hc K Thut K Thut Cng Nhip Thi Nguyn. 4. Lun vn thc s: Nghin cu ng dng h iu khin d bo iu khin h phi tuyn nhiu chiu. Tc gi: Nguyn Th Mai Hng, nm 2008, i hc K Thut K Thut Cng Nhip Thi Nguyn. Ni dung ca bi bo v cc lun vn trn cp n iu khin d bo da vo m hnh d bo ca Smith, m hnh m Mandani, Takagi Sugeno v i tng l bnh trn nc nng lnh. Trn th gii th vic p dng iu khin d bo v ang c nghin cu v ng dng rt nhiu trong cc lnh vc iu khin i tng phi tuyn phc tp nh:
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Lun vn thc s
iu khin iu khin ng bay ca my bay, iu khin tu in ngm, iu khin chuyn hng t.v.v... Trong ni dung ti ny tc gi a ra mt phng n iu khin mi l iu khin d bo da vo m hnh mng Noron (Neural Network) nhm nng cao cht lng iu khin, d dng trong thit k v hiu chnh h thng.
Chng 3 TM HIU H THNG IU KHIN L HI NH MY NHIT IN PH LI 3.1. Gii thiu chung v nh my Nhit in Ph Li [1] Nh my nhit in Ph li thuc a phn huyn Ch Linh, tnh Hi Dng, cch th H Ni 56 km v pha ng bc. Nh my c khi cng xy dng vo
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Lun vn thc s
ngy 17 thng 5 nm 1980 vi cng sut thit k l 440 MW, gm 4 t my pht v 8 l hi theo kiu 2 l 1 my mi my c cng sut l 110 MW. Nh my nhit in Ph Li c cc ch tiu kinh t, k thut cao v l nh my nhit in ln nht trong h thng in min bc lc by gi. Cc t my ca nh my nhit in Ph li ln lt c a vo vn hnh p ng kp thi tc tng trng ph ti mnh trong thp k 80. T nm 1994 khi c ng dy ti in 500 KV Bc Nam, thng nht h thng in trn ton quc, nh my nhit in Ph Li c tng cng khai thc. Sn in hng nm l: 2,86 t KW/h. in t dng l 10,15%. Hiu sut kh bi 99%. Lng than tiu th hng nm l 1254400 tn. Lng du FO tiu th hng nm l 149760 tn. Sut tiu hao than tiu chun l 439 g/ kwh.
3.2. Chu trnh nhit ca mt t my

nh my nhit in Ph Li mi t my bao gm hai l v mt tua bin, mi l vn hnh c lp vi nhau. Nc ngng t bnh ngng t ca tuabin s c bm nc ngng a vo cc bnh gia nhit h p. Ti y nc ngng c gia nhit bi hi nc trch ra t cc ca trch hi ca tuabin. Nc sau khi c sy nng bi cc gia nhit h p n 1400C s c a ln bnh kh kh 6 at, ti y nc s c kh ht cc bt kh cn ln trong nc. Nc sau khi c kh kh, c cc bm cp nc a qua cc bnh gia nhit cao p tip tc c gia nhit bi hi nc trch ra t cc ca trch hi xi lnh cao p ca tua bin n nhit 2300C. Sau khi c gia nhit gia nhit cao p, nc c a qua b hm nc ui l trc khi i vo Balng (bao hi).
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Lun vn thc s
Nc bao hi theo vng tun hon t nhin chy xung cc gin ng sinh hi, nhn nhit nng t bung t ca l bin thnh hi nc v tr v bao hi. Trong bao hi phn trn l hi bo ha m, pha di l nc ngng. Hi bo ha t Balng qua cc b qu nhit (b sy hi) v cc b lm mt (b phun gim n). Hi sau khi m bo cht lng c a sang quay tuabin. Sau khi sinh cng cc tng cnh tuabin hi nc c ngng t ti bnh ngng. Cng do tuabin sinh ra lm quay my pht in. Nh vy, nhit nng ca nhin liu bin i thnh c nng ri bin i tip thnh in nng, cn hi nc l mi cht trung gian c bin i theo mt vng tun hon kn.
Nc
Hi
Sinh cng
in nng
Hi ngng t
Hnh 3.1: S chu trnh nhit kn
Nc lm mt bnh ngng ly t trm bm tun hon ca nh my. Trm bm tun hon gm 4 bm trc ng t s 1 n s 4. Khi vn hnh c 4 t my th vn hnh 2 bm tun hon cn 2 bm d phng. 3.3. L hi BKZ 220 100 10C 3.3.1. S lc v l hi 3.3.1.1. Nhim v ca l hi Trong nh my nhit in l hi l thit b ln nht v vn hnh phc tp nht. N c trnh c kh ha v t ng ha kh cao, lm vic m bo v hiu sut cng tng i cao. L hi c cc nhim v chnh sau: Chuyn ha nng lng ca nhin liu hu c nh than , du m, kh t thnh in nng.
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Lun vn thc s
Truyn nhit nng sinh ra cho mi cht ti nhit hoc mi cht a chng t th lng c nhit thng thng ln nhit cao hoc nhit si, bin thnh hi bo ha hoc hi qu nhit.
3.3.1.2. Cc thng s k thut c bn ca l hi BZK- 220-100-10C

- Sn lng hi D (Nng sut l): Sn lng hi l lng hi sn xut ra trong mt
n v thi gian. Tnh bng T/gi, kg/gi hay kg/giy. D=220 T/h - Thng s hi: Vi l sn xut hi qu nhit l p sut, nhit ca hi sau b qu nhit, cn vi l sn xut hi ba ha th ch cn biu th nhit hoc p sut trong bao hi. Nhit hi qu nhit tqnh=5400C p sut hi qu nhit p sut trong balng Pqnh=100KG/cm2 Ph=112,6KG/cm2
- Hiu sut l hi: Hiu sut l hi t l gia nng lng c ch, s dng c vi tng nng lng a vo. Nng lng c ch y l nng lng dng sn xut hi qu nhit, cn nng lng a vo l nhit t do nhin liu ta ra. Ngi ta thng dng hai loi hiu sut th v hiu sut tinh. Hiu sut th:
Qhi B.Qtlv
Qhi qtd B.Qtlv
Di B.Qtlv
tb
100%
Hiu sut tinh: Trong :
tn
100%
Qhi - Nhit lng hu ch, l nhit lng sn xut ra D kg hi vi tng entanpin l i. Qtd - Lng nhit t dng cho bn thn l hi B - Lng nhin liu tiu th
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Lun vn thc s
Qtlv - Nhit tr thp lm vic, tc l nhit lng to ra khi t chy hon ton 1 kg hoc
1 m3 mu nhin liu iu kin lm vic bnh thng m nc trong sn phm chy dng hi. Nhit nc cp Nhit khi thot Tn tht do khi thot tnc=2300C tkt=1330C q2=5,4%
Tn tht do chy khng hon ton v ho hc q3=0 Tn tht do tn ra mi trng ngoi Tn tht do c gii Tn tht do x mang ra ngoi q4=8% q6=0,06%. q5=0,54%
3.3.1.3.Cu to ca l: (Nh hnh v 3.2) L hi loi BKZ22010010C do Lin X ch to, y l loi l hi c mt ng balng, ng nc ng, tun hon t nhin. L t than bt ly t m than Mo Kh Qung Ninh, y l loi l x kh. L c cu to hnh ch . Bung t chnh l nhnh ca ng khi i ln u tin. Trong ng khi nm ngang c t cc b qu nhit (b sy hi). Trong ng khi i xung c t xen k b hm nc v b sy khng kh. Bung t ca l kiu h, cu to bi cc gin ng sinh hi hn sn. Cc gin ng sinh hi vch trc v vch sau pha di to thnh cc mt phng nghing phu lnh vi gc nghing 500. Bung t c trang b 4 vi t than kiu xoy lp, t ti cc vch bn vi cc cao khc nhau ( 9850; (gi sau phn ly than mn) c lp ti 4 gc l. to thun li cho qu trnh chy, cc ng sinh hi vng t vi t chnh c t mt vi phun du mazut theo kiu c kh c nng sut 2000 kg/h. thu c hi c cht lng cao, l s dng s bc hi hai cp. Cc thit b phn ly cp bc hi th nht t ngay trong balng bao gm t hp cc ciclon trong, thit b sa hi ca chp v mt sng. Cc thit b phn ly cp bc hi th 2 l 4 ciclon ngoi, t thnh tng khi bn phi v bn tri l.
12700 mm). Cc vi t gi cp 3
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Lun vn thc s
Balng ca l hnh tr, c ng knh trong l 1600 mm, chiu di l 12700 mm. b dy 88 mm. Trong qu trnh vn hnh mc nc trong balng cho php dao ng t -50mm n +50mm so vi mc nc trung bnh. sy nng bao hi khi khi ng l, ngi ta c t thit b sy balng bng hi bo ha ly t ngun bn ngoi. Trong balng cn c ng x s c, ng c l a pht pht v phn phi theo chiu di balng. Balng ca l hnh tr, c ng knh trong l 1600 mm, chiu di l 12700 mm. b dy 0,88 m.
70
Lun vn thc s
Tua - bin Balng Thng than Hi n tua bin Nc cp cho l ng khi thi Bm nc cp
My pht
Bnh ngng Bm nc ngng
Thn l Bung la Khng kh vo l

Hnh 3.2: Cu to l hi BZK-220-100-10C
Qut khi Lc bi tnh in
Qut gi
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Lun vn thc s
Trong qu trnh vn hnh mc nc trong balng cho php dao ng t -50mm n +50mm so vi mc nc trung bnh. sy nng bao hi khi khi ng l, ngi ta c t thit b sy balng bng hi bo ha ly t ngun bn ngoi. Trong balng cn c ng x s c, ng c l a pht pht v phn phi theo chiu di balng. S tun hon ca l phn chia theo cc gin ng thnh 14 vng tun hon nh c lp nhm tng tin cy ca qu trnh tun hon. B qu nhit ca l l b qu nhit hn hp na bc x, na i lu. Tnh theo ng hi gm c cc b qu nhit sau: + B qu nhit cp 1 + B qu nhit cp 2 + B qu nhit cp 3 + B qu nhit cp 4 Vic iu chnh hi qu nhit c thc hin nh cc b gim n phun cp 1 v cp 2. B gim n cp 1 c t gia qu nhit cp 1 v cp 2. B gim n cp 2 c t gia qu nhit cp 3 v cp 4. Nc i phun gim n l nc ngng c nhn bng cch ngng t hi bo ha ti hai bnh ngng ph t trn nh l. Khi mi khi ng l th dng nc cp phun gim n. kim tra cht lng nc cp, hi, nc ngng gim n, trn l c t h thng thit b ly mu. L lp t mt qut gi kiu H- 26 M
C nng sut gi Q= 243500 m3/h ng c ko qut gi loi

U dm
Cos I dm
30-2-17-44-8T1
6000V ; Pdm
dm
630KW 93%; ;
0,88;
dm
73,5 A; khi lng 8550 kg.
L c lp t mt qut khi kiu
H-26.2-0,62
Trng H KTCN
L Th Huyn Linh
71
Lun vn thc s
C nng sut Q=386800 m3/h ng c ko qut khi loi

U dm
Cos I dm
30-2-17-64-10T1
630KW 94%; ;
6000V ; Pdm
dm
0,88;
dm
77A;
lm sch khi trc khi thi ra ngoi tri ngi ta lp t b lc bi tnh in. lm sch cc b mt chu nhit ca l ngi ta lp t cc thit b sau: i vi cc mt nghing ca phu lnh dung cc vi thi x lp c nh. i vi cc gin ng sinh hi dung cc my thi bi bng hi hnh trnh ngn kiu OM-0,35. i vi b qu nhit dung cc my thi bi bng hi hnh trnh kiu O .
Ngoi ra l cn c lp t cc thit b thi x lin tc c c gii ho. 3.3.1.4. Nguyn l hot ng ca l hi BKZ 220 100 10C Bt nhin liu c gi cp 3 (gi sau phn ly than mn) thi qua vi phun a vo bung la, nhn nhit t bung la v sn phm chy, c sy nng, sy kh, tch cht bc, to cc v bt u chy. Mt khc di tc dng ca qut gi, qut khi, khng kh c a vo y , chy kit cc cht bc v cc, to thnh sn phm chy v tro x nhit cao. Tro x b chy lng, mt b phn kt li vi nhau thnh ht ln ri xung y bung la, trong phu tro lnh, x c lm ngui, ng c li di dng x kh ri thi ra ngoi nh cc thit b thi x lin tc c c gii ho. Nhng ht tro x b dng sn phm chy cun theo, ngui dn do truyn nhit cho mi cht qua cc dn ng, ng c li trc khi ra khi bung la ri theo dng sn phm chy i qua b lc bi tnh in c thi ra ngoi qua ng khi. Tuy nhin vn cn mt b phn bm li trn cc b mt truyn nhit hoc trn cc ng ng dn khi s c lm sch nh cc vi thi x, cc my thi bi. Sn phm chy khi trong bung la c nhit kh cao, khong 1200 n 16000C, qua cc b mt truyn nhit cho mi cht nhit gim xung 1330C trc khi thi ra ngoi.
72
Lun vn thc s
Nc ngng t bnh ngng t ca tuabin s c bm nc ngng a vo cc bnh gia nhit h p. Ti y nc ngng c gia nhit bi hi nc trch ra t cc ca trch hi ca tuabin. Nc sau khi c sy nng bi cc gia nhit h p n 1400C s c a ln bnh kh kh 6 at, ti y nc s c kh ht cc bt kh cn ln trong nc. Nc sau khi c kh kh, c cc bm cp nc a qua cc bnh gia nhit cao p tip tc c gia nhit bi hi nc trch ra t cc ca trch hi xi lnh cao p ca tua bin n nhit 2300C. Sau khi c gia nhit gia nhit cao p, nc c a qua b hm nc ui l trc khi i vo Balng (bao hi). Nc bao hi theo vng tun hon t nhin chy xung cc gin ng sinh hi, nhn nhit nng t bung t ca l bin thnh hi nc v tr v bao hi. Trong bao hi phn trn l hi bo ha m, pha di l nc ngng. Hi bo ha t Balng qua cc b qu nhit (b sy hi) v cc b lm mt (b phun gim n). Hi sau khi m bo cht lng c a sang quay tuabin. Sau khi sinh cng cc tng cnh tuabin hi nc c ngng t ti bnh ngng. Phn nc ngng trong bao hi tip tc tr v dn ng xung cng vi nc cp to thnh vng tun hon t nhin. 3.3.2. Cc h thng iu chnh trong l hi nh my nhit in Vn hnh l hi l mt cng vic thao tc iu khin phc tp. Qu trnh vn hnh l hi khng tch khi qu trnh vn hnh chung ton nh my. Mi mt s thay i ca mt khu no trong nh my u dn n s thay i ch vn hnh ca l hi v i hi cc thao tc iu khin l tng ng. Nhim v ca cng tc vn hnh l hi l m bo sao cho l hi lm vic trng thi kinh t nht, an ton nht trong mt thi gian lu di. C th trong qu trnh vn hnh l hi khng xy ra s c v phi m bo l lm vic c hiu sut cao nht, tng ng l lng than tiu hao sn xut 1 kg hi l nh nht. Cc thng s ca l hi nh p sut hi trong bao hi hoc ng gp hi chung, nhit hi qu nhit, mc nc trong bao hi, h s khng kh tha, chn khng bung la, hm lng mui trong nc cp l hi v trong bao hi phi c gi c nh v ch c php thay i trong mt phm vi gii hn cho php tng i nghim khc.
73
Lun vn thc s
V d: Gii hn cho php v thay i mc nc l 100mm. Gii hn cho php v thay i ca nhit hi qu nhit l 150C. Vic t ng ha l hi ch yu tp trung vo vn iu khin t ng cc qu trnh trong l m bo cho l lm vic n nh v kinh t nht bng cch iu chnh nm quan h: ph ti nhin liu, ph ti khng kh, ph ti khi thi, ph ti mc nc bao hi v ph ti x lin tc. Do nhit hi qu nhit ph thuc rt t n ph ti l hi nn vic iu chnh n c thc hin c lp ch yu bng cc b gim n hn hp. T nhng ch tiu t ra, h thng iu khin l hi phi c cu thnh t mt s b iu chnh tng i c lp vi nhau gm: H thng iu chnh mc nc bao hi. H thng iu chnh nhit hi qu nhit. H thng iu chnh qu trnh chy. H thng iu chnh sn lng hi.
3.3.2.1. H thng iu chnh nhit hi qu nhit Nhit hi qu nhit l mt trong s nhng ch tiu c bn ca l hi. Trong qu trnh lm vic ca l, n khng c gi c nh m lun lun thay i. Nguyn nhn gy nn s thay i ca nhit hi qu nhit l do ch lm vic ca l thay i. Nhng s thay i ca nhit hi qu nhit nu khng c iu chnh s nh hng ln n cc ch tiu kinh t cng nh k thut ca l v nh my. Vic gim nhit hi qu nhit s lm gim hiu sut chu trnh nhit v nh hng xu n iu kin lm vic ca tuabin do m ca hi cc tng cui tng ln. Vic tng nhit hi qu nhit qu tr s cho php s lm gim iu kin sc bn ca kim loi ng. V vy phi tm cc bin php duy tr nhit hi qu nhit c nh ngay c khi cc ch lm vic ca l thay i. Nhng bin php ny gi l bin php iu chnh
74
Lun vn thc s
hi qu nhit. Thng thng nhit hi qu nhit ch cho php sai lch +100C v 150C. Vic s dng b qu nhit cng c tc dng iu chnh nhit hi qu nhit. Nu t l hp th nhit hp l gia cc thnh phn bc x v i lu th trong nhiu trng hp khi ch lm vic ca l thay i th nhit hi qu nhit cng khng thay i. Vi b qu nhit, khi tng ph ti, nhit hp thu trong phn i lu tng ln trong khi phn bc x hu nh khng tng do nhit chy l thuyt hu nh tng rt t. C hai phng php ch yu dng iu chnh hi qu nhit l iu chnh bng hi v iu chnh bng khi. 3.3.2.2. H thng iu chnh qu trnh chy Qu trnh chy c nh hng rt ln n ch vn hnh an ton ca l hi cng nh hiu sut ca nh my. Nhim v ca vic iu chnh qu trnh chy l: m bo thng s hi n nh, c bit l p sut. p sut n nh chng t lng hi sinh ra v lng hi tiu th cn bng nhau. Khi p sut gim chng t lng hi tiu th nhiu hn, cn phi tng thm nhin liu sn lng hi nhiu hn. Ngc li khi p sut tng. m bo qu trnh chy tt nht, ngha l iu chnh lng gi cp m bo h s khng kh tha kinh t ph hp vi tng loi nhin liu. m bo ch thng gi cn bng, m bo p sut ph hp trn ng ng dn gi v dn khi. Qu trnh chy ca nhin liu trong bung la ph thuc rt nhiu yu t nh tnh cht ca nhin liu, nng bt than, nhit v tc ca hn h p khng kh nhin liu, ch vn hnh ca l hi, ch cp khng kh. Cc phng php iu chnh qu trnh chy gm: iu chnh kinh t qu trnh chy v iu chnh p sut chn khng bung t. 3.3.2.3. H thng iu chnh sn lng hi
75
Lun vn thc s
Thc cht ca vic iu chnh sn lng hi l iu chnh lng nhin liu v khng kh qu trnh chy tt nht ng thi cung cp lu lng hi ph hp vi h s dng. Cho nn h thng iu chnh sn lng hi thng phi hp vi h thng iu chnh qu trnh chy m bo sn lng hi yu cu vi thng s hi n nh, c bit l p sut hi. S n nh ca p sut hi chng t lng hi tiu th v lng hi sinh ra cn bng nhau. Khi p sut hi gim tc l lng hi tiu th nhiu hn, cn phi tng thm nhin liu tng sn lng hi v khi p sut tng th ngc li, Khi lng nhin liu thay i th ng thi cng tc ng ln b iu chnh khng kh iu chnh lng khng kh cho ph hp vi ch kinh t nht. S iu chnh loi ny gi l s tc ng theo nguyn tc nhit nhin liu, b iu chnh ny c gi l b iu chnh ph ti nhit. B iu chnh ph ti nhit duy tr n nh sn lng hi ca l ng vi gi tr yu cu hoc do b iu chnh p sut hi chnh t ng t. S thay i sn lng hi ca l c nhiu nguyn nhn nh: s thay i m v nhit tr ca than, nhit nc cp, lt khng kh lnh, s bin ng bt k ca nhin liu. Nhng thay i c phn nh ln xung ph ti nhit ca b iu chnh bng vic tc ng ln h thng cp than vo l duy tr lng hi nh tr. Vi l phun t than bt, b iu chnh nhin liu s tc ng ln my cung cp than bt iu chnh lng bt than phun vo. 3.3.2.4. H thng iu chnh mc nc bao hi H thng iu chnh mc nc bao hi l mt trong nhng khu quan trng ca h thng iu chnh l hi. Nhim v ca h thng ny l m bo tng quan lng nc a vo l hi v lng hi sinh ra. Khi tng quan ny b ph v th mc nc trong bao hi s khng c nh. Mc nc thay i s dn ti s c tuabin hay l hi. Nu mc nc bao hi ln qu gi tr cho php s lm gim nng sut bc hi ca bao hi, gim nhit hi qu nhit nh hng ti s vn hnh ca tuabin. Nu mc nc bao hi qu thp so vi gi tr cho php lm tng nhit hi qu nhit, c th gy n h thng ng sinh hi.
76
Lun vn thc s
Tng quan gi lu lng hi v nc cp b ph v do nhiu nguyn nhn gy ra nh lu lng hi, lu lng nc cp, nhit nc cp, nhit lng than to ra trong bung t... Lu lng hi: khi lng hi sang tuabin tng th mc nc trong bao hi gim v ngc li. Lu lng nc cp: khi lu lng nc cp vo l tng th mc nc trong bao hi cng tng. Qu trnh chy: khi lng nhit cp cho l thay i th mc nc trong bao hi cng thay i theo. Khi l ang vn hnh bnh thng, nu lng nhit cp cho l tng ln (tng lng nhin liu cho qu trnh chy) th trong mt khong thi gian khong 30s, mc nc s tng ln t ngt do hm lng hi trong h thng tng t ngt, hin tng ny gi l hin tng si bng. Sau thi gian ny nu lng nhit cp cho l vn tng th mc nc trong bao hi li bt u gim dn do lng nc ho hi tng ln. Khi gim lng than cp cho l th mc nc bao hi s thay i theo chiu ngc li, lc ny lng nc ho hi t i dn n mc nc bao hi tng ln. p sut trong bao hi: khi p sut trong bao hi thay i th mc nc bao hi
thay i theo quan h nghch. Nu p sut tng th mc nc bao hi gim v nu p sut gim th mc nc bao hi s tng. Khi p sut tng, mt b phn hi trong hn hp nc s ngng t dn n mc nc gim xung. ng thi, khi tng p lc hi th th tch hi ca l cng gim, lm mc nc gim. Ngc li khi p sut gim th dn n mc nc trong bao hi tng. Cc phng php iu chnh mc nc bao hi: vic iu khin mc nc bao hi c th thc hin theo nhiu cch khc nhau tu theo loi l. Thng thng s dng ba s l s mt tn hiu, hai tn hiu v ba tn hiu. 3.4. Nghin cu v h thng iu chnh mc nc bao hi trong nh my Nhit in Ph Li 3.4.1. t vn
77
Lun vn thc s
Trong qu trnh vn hnh l hi, mc nc bao hi lun thay i v dao ng ln i hi ngi cng nhn vn hnh phi iu chnh mc nc bao hi kp thi v lun n nh m gi tr cho php. Song v l hi c nhiu thng s cn theo di v iu chnh nn ngi vn hnh khng th iu chnh kp thi v lin tc gi n nh mc nc trong bao hi. T ng iu chnh mc nc bao hi l mt trong nhng khu trng yu ca cc h thng iu chnh t ng l hi. Nhim v ca b iu chnh l n nh mc nc bao hi thng qua vic m bo tng quan gia lng hi sinh ra v lng nc cp a vo bao hi. Vng iu khin ny duy tr mc nc bao hi ti mt gi tr mong mun khi ti ca l thay i bng cch iu chnh lng nc cp n bao hi. Lu lng nc cp ph thuc vo m ca van cp nc v p lc ca nc cp, nhn chung c iu chnh bi tc ca bm cp. Tuy nhin, lu lng nc cp c iu chnh bi hai van iu chnh v tc bm cp c iu chnh duy tr chnh p u vo ca hai van iu chnh v u vo ca b hm. 3.4.2. Cc cu trc c bn ca iu khin mc nc bao hi 3.4.2.1. Cc k hiu trn s logic Khi cng Hm chuyn i
F (x)
+ 0 T
B tr
B truyn tn hiu
Khi t gi tr
B chuyn i tn hiu
RL
78 B chuyn i dng in sang p sut Khu phn hi chuyn i tn hiu
Lun vn thc s
o lng
B chuyn i lu lng nc sang dng in
ZT
B chuyn i v tr
Khi iu khin PID (t l - vi phn tch phn): Thc hin chc nng iu khin: T l, vi phn, tch phn da trn s sai lch bin qu trnh u vo (PV) so vi gi tr im t (SV) cho ra tn hiu iu khin
3.4.2.2. S iu chnh mt tn hiu (Hnh 3.3) Tn hiu iu chnh y l tn hiu v mc nc tng i trong bao hi, tn hiu u ra ca b iu chnh mc nc c a vo c cu chp hnh iu khin ng m van nhm thay i lu lng nc cp vo l theo yu cu. Cch iu khin ny ch dng cho cc l hi c dung tch nc ln v sn lng hi nh (di 30 T/h).
Hnh 3.3: S iu chnh mc nc bao hi dng mt tn hiu
79
Lun vn thc s
3.4.2.3. S iu chnh hai tn hiu (Hnh 3.4) Trong s ny ngoi tn hiu v mc nc o c trong bao hi cn s dng thm mt tn hiu th hai l tn hiu lu lng hi. Tn hiu lu lng hi l tn hiu on trc c a vo b iu chnh feedforward. Kiu iu khin kt hp feedback v feedforward ny cho php b iu chnh d on trc c s thay i lu lng nc cp trc khi mc nc trong bao hi b gim i. Nh m kh b c nh hng chm tr ca n ti mc nc khi ph ti thay i. S ny thng dng cho l hi loi trung bnh v nh c ph ti t thay i.
Hnh 3.4: S iu chnh mc nc bao hi dng hai tn hiu
3.4.2.4. S iu chnh ba tn hiu (Hnh 3.5) Trong s ny ngi ta s dng thm mt tn hiu na l tn hiu lu lng nc cp, hai b iu chnh PI c lin kt vi nhau theo kiu cascade. Khi tn hiu ra ca b iu chnh mc nc s tr thnh tn hiu t cho b iu chnh cp nc. Cn tn hiu lu lng hi cng ging nh s iu chnh hai phn t n l tn hiu on trc s thay i ca ph ti. Mc nc lun c gi trong vng gii hn cho php, khi cc qu trnh ng hc thay i b iu chnh lm vic vi ba phn t vi s b hin tng si bng (Swell) c s dng khi ti ln hn 25%.
80
Lun vn thc s
Cc thnh phn iu khin lu lng nc cp s nh hng tng tc ln nhau nu khng chnh nh tt. Mt s thay i v tr van nc cp s dn n thay i chnh p, m n s dn n vic iu chnh tc bm cp. Nu vic chnh nh khng tt s dn n qu iu chnh hoc dao ng dng sng.
Hnh 3.5: S iu chnh mc nc bao hi dng ba tn hiu
S ba tn hiu m bo c cht lng iu chnh cao, bi v nhiu t lu lng hi (nhiu ngoi) c kh b t tn hiu nc cp, cn cc nhiu khc (nhiu trong) xy ra trong l nh p sut hi, nhit nc cp, nhit lng to ra ca nhin liu ... c kh b t tn hiu mc nc trong bao hi. Trong s ny, tn hiu mc nc l tn hiu phn hi, tn hiu v lu lng hi l tn hiu tin nh n phn nh trng thi ca ph ti hi. Nh tn hiu ny m c th kh b c nh hng chm tr ti mc nc khi ph ti thay i. C ngha l khi lu lng hi thay i tn hiu ny c truyn ngay vo b iu chnh nc cp trc khi mc nc thay i v b iu chnh nc cp thay i lng nc cp vo l cn bng vi sn lng hi. Tn hiu v lu lng nc cp s tng thm chnh xc ca tn hiu tin nh bng cch loi tr cc nh hng ca lu lng cng nh p sut.
81
Lun vn thc s
Nh vy ta c hai mch vng iu chnh mt thit b cp nc (l mt van hay mt bm cp nc) l mch vng iu chnh lng nc cp cho bao hi v mch vng iu chnh mc nc bao hi. Trong hai mch vng ny th tn hiu v mc nc s c u tin hn so vi tn hiu lu lng hi. Tuy nhin khi m mc nc trong bao hi gn ti im t (Sens = 0) th tn hiu v s thay i ca lu lng s tc ng ngay ln mc nc, c ngha l tn hiu iu khin l tn hiu v lu lng. Trong trng hp mc nc trong bao hi cao, ph ti nhit kh ln, lc ny b iu khin mc nc c xu hng ng van cp nc trong khi b iu chnh lu lng li c xu hng iu chnh van ny vn c m ra. Do ta mun mc nc phi gim cho nn b iu khin mc nc s c u tin hn l b iu khin lu lng hi, c ngha l van cp nc s c ng li. iu ny xy ra khi m ta Reset li b iu khin mc. C hai mch vng trn u tc ng n van iu chnh mt cch c lp nhau: Khi mc nc gn bng im t th b iu chnh lu lng tc ng. Khi mc nc qu thp hoc qu cao th b iu chnh mc nc tc ng.
T s cu trc ta c th thy hot ng ca s nh sau: Bnh thng khi lu lng hi cn sn xut ra khng thay i tc l ph ti ca nh my khng thay i so vi gi tr trc , do u vo ca b iu chnh lu lng cng khng thay i v lng nc cp vo l hi cng khng thay i. Khi lu lng hi sn xut ra gim i (ph ti ca nh my gim xung) th mc nc trong bao hi s tng ln, u vo ca b iu chnh mc nc l L gim, u vo ca b iu chnh lu lng hi gim theo, tn hiu iu chnh m ca van cp gim, lu lng nc cp vo bao hi s gim i v do mc nc trong bao hi s gim xung tr v trng thi n nh ban u. Ngc li, khi lu lng hi sn xut ra tng, ngha l ph ti ca nh my tng th mc nc trong bao hi s b gim xung, tn hiu vo b iu chnh mc nc l L tng ln, tn hiu vo ca b iu chnh lu lng theo cng tng
82
Lun vn thc s
ln, m ca van s c tng lm cho lng nc cp vo l nhiu hn, do m mc nc li tng ln tr v mc nc n nh ban u.
Chng 4 XY DNG H IU KHIN D BO CHO MC NC BAO HI
4.1. H thng iu chnh mc nc bao hi ch bt u khi ng l

o lng
W I
Senso
Bao hi
RL
I P
Van Nc si b sung
Hnh 4.1: S khi iu khin mc nc bao hi
Sens
Cm bin o lng B chuyn i tn hiu
B chuyn i lu lng nc sang dng in Khu phn hi chuyn i tn hiu
RL
I
o lng P B chuyn i dng in sang p sut
Khi khi ng l trng thi lnh, trong bao hi cha c s bc hi, do mc nc trong bao hi khng c s thay i. V vy lu lng nc cp vo bao hi bng [0]
83
Lun vn thc s
hoc rt nh. Do , b iu khin ch c mt tn hiu duy nht l mc nc. Nn c gi l b iu khin mt phn t. T ta c s khi nh hnh 4.2: RL I/P
o Lng Hnh 4.2: S iu chnh mc nc bao hi mt tn hiu
t I0
Van
Bao hi
4.1.1. Hm truyn t ca thit b o mc Thit b o mc nc l b chuyn i EJA 210A ca hng YOKOGAWA c di o 0 1000mm, tng ng cho tn hiu u ra dng dng lin tc t 4 20mA. Thit b ny c hm truyn t l mt khu qun tnh bc nht.
WH s K Ts
Trong : K: H s khuch i ca thit b o, c xc nh nh sau:

K I max H max 20 4 1000 0,016 mA mm
T: Thi gian ly tr ca thit b o, thng ly T = 0,005 (s)

H
( s)
0,016 1 0,005s
4.1.2. Hm truyn t ca b chuyn i dng in kh nn (I/P) B chuyn i I/P c chn l PK200 ca hng YOKOGAWA c tn hiu u vo l dng in I: 4 KG/mm2. Nh vy, thit b ny c hm truyn l mt khu khuch i vi h s khuch i K c xc nh nh sau: 20mA v tn hiu u ra l p sut kh nn P: 0,002 0,01
84
Lun vn thc s
Pmax I max
0,01 0,002 KG / mm 2 0,5 20 4 mA
4.1.3. Hm truyn t ca van Trong thc t hm truyn ca van thng c coi l khu qun tnh bc nht c tr, ly gn ng th xem l khu qun tnh bc nht:
Wv ( s ) Kv 1 Tv s
Trong : K: h s khuch i ca van T: thi gian tr ca van, thng ly T=10 ms = 0,01s. Khi tn hiu vo thay i t 0,002 0,01 KG/mm2 th m ca van thay i t 0 80%, khi h s khuch i c xc nh nh sau:
KV 80 100 1 0,8 100 1 0,01s
Vy: Wv (s)
Ta c khi m ca van thay i t 5 80% th lu lng nc qua van thay i t 0 40 T/h. T h s truyn ca s lin h gia lu lng nc qua van v m ca van l:
KT 40 80 5 0,5
Kt hp cc hm truyn trn ta c hm truyn t vi tn hiu vo l p sut kh nn v tn hiu ra l lu lng nc cp thng qua c cu van:
WV
T
50 1 0,01s
4.1.4. Hm truyn t ca i tng iu chnh tnh hm truyn t ca i tng mc nc khi c s thay i lu lng nc cp ta cn thnh lp s lin h gia mc nc H v lu lng nc cp Dc, s lin h c th hin qua phng trnh qu mc nc.
85
Lun vn thc s
Lp phng trnh qu trnh qu mc nc trong bao hi:

dH d Dc D r ,, F ,
Trong :
,
: khi lng ring ca nc cp, kg/m3

: khi lng ring ca nc ch si, kg/m3
,,
F: din tch ca bnh bao hi, m2 Dc: lu lng nc cp, kg/s Dr: lu lng ca hi nc ra khi bao hi, kg/s tnh ton d dng v tng qut ho cho nhiu trng hp, ngi ta thng dng cc tr s tng i thay cho cc i lng ra hoc vo. Nh vy khi kho st ngi ta thng dng tr s tng i l t s gia i lng vo, ra vi lng vo hoc ra cc i c th.
Dc
v
Dbs. max
Dbs
DH H ; DH . max H0
Khi c chn ng, gi tr D
Dr vit di dng tng i nh sau:
Dc D r Dc. max
D Dc. max
T phng trnh qu trnh qu c th vit li vi tr s tng i nh sau:

d d
t
d
0
Trong :
Dc. max F.
, ,,
H0
l tr s khng i i vi i tng kho st c
n v sec-1 v c gi l tc qu . tc thay i mc nc khi c dao ng n v (

1). Dng chn ng
nh th thng c khi ph ti t tr s cc i gim ti khng, ngha l gim 100%.
86
Lun vn thc s
Tang gc gia c tnh thi gian v trc honh khi c chn ng n v chnh bng tc qu . Trong trng hp tng qut: tg
.
Tc qu c trng cho dung tch ca i tng iu chnh. Trong nhng iu kin ging nhau, tc nghch o ca tc
: Ta 1
cng nh nu dung tch ca i tng cng ln. Tr s c n v sec nn thng gi l thi gian c nh ca
i tng. y chnh l thi gian cn thit i lng iu chnh thay i 100% khi c chn ng n v. i vi cc i tng phc tp, c tnh ng hc ca i tng thng c xc nh bng phng php thc nghim v c biu din di dng c tnh thi gian. vic xc nh cc c tnh ny c thc hin bng cch tc ng ln u vo ca i tng tn hiu bc thang v ghi li phn ng ca u ra ca i tng s nhn c c tnh thi gian ca i tng. Bao hi xt theo quan im iu chnh mc nc l i tng khng c tnh t cn bng. iu c th hin c tnh ng ca mc nc bao hi khi thay i lu lng nc b sung. c tnh c dng nh hnh 4.3:
Dc (T/h)
0 H (mm)
t (s)
t (s)
87
Lun vn thc s
Hnh 4.3: c tnh ng ca mc nc bao hi khi thay i lu lng nc cp
Trn c s hm qu ca i tng, c th xc nh gn ng hm truyn t ca n. Trong thc t hm truyn t ca i tng khng c tnh t cn bng c m t gn ng nh sau:
Wdt s K .e s
s
Cc thng s ca i tng hon ton c th xc nh c t hm qu bng phng php thun tu th hoc gii tch. + Tnh hm truyn t ca mc nc bao hi: i tng iu chnh ca h thng l mc nc bao hi, thng qua vic tin hnh th nghim ly ng c tnh ng ca mc nc vi tc ng iu chnh l lu lng nc b sung ngi ta thu c c tnh qu ca i tng nh hnh 3.9.
Hnh 4.4: c tnh ng ca mc nc bao hi theo lu lng nc cp
Theo trn trnh by, hm truyn t ca i tng khng c tnh t cn bng c m t di dng gn ng l mt khu tch phn c tr sau:
88
Lun vn thc s
K .e s
s
Wdt s
Trong :
K: h s khuch i hay h s truyn, k = 0,08
m t h
: hng s thi gian tr,
=15 (s)
0,08.e s
15 s
Khi hm truyn ca i tng l: Wdt ( s) Khu tr e

15 s
c th bin i gn ng nh sau: e
0,08 s 1 15s
15 s
1 1 15s
Wdt (s)
0,0054 . s 0,067 s
T ta c s cu trc ca i tng nh hnh 4.4. Trong : Tn hiu vo l dng in thng qua khu chuyn i tn hiu thnh p sut kh nn ng m van, iu khin bao hi a tn hiu ra l mc nc; thit b o lng bin i tn hiu mc thnh dng in so snh vi tn hiu t.
Hnh 4.4: S cu trc ca h thng khi cha c iu khin
4.2. Xy dng h thng iu khin d bo iu khin mc nc bao hi: H thng iu khin mc nc bao hi s dng b iu khin d bo c thit k trn b cng c MPC (Model Predictive Control Toolbox) ca Matlab c ch ra trn hnh 4.5. Trong m hnh i tng iu khin c xy dng trn c s mng nron nhn to gm 7 lp n.
NN Predictive Controller
Reference
Optim. Control Signal

In1http://www.lrc-tnu.edu.vn Out1
Dat S ha bi Trung tm Hc liu i hc Thi Nguyn Plant Output NN Model
Flow Rate
Doi tuong
Scope1
89
Lun vn thc s
Hnh 4.5: S m phng iu khin mc nc bao hi dng b iu khin d bo
4.3. Mng noron trong bi ton nhn dng Mt mng nron c kh nng mng nron nhn dng i tng l iu khin mc nc bao hi ca nh my nhn dng c mt m hnh i tng cho. Trong phm vi ti ny tc gi dng mt nhit in. Vi i tng c th l iu khin mc nc trong balong (bao hi), tc gi tin hnh la chn cc thng s nh sau trong qu trnh nhn dng v hun luyn mng: Size of Hidden layer: 7 Sampling Iterval (sec): 2 No. Delayed Plant Inputs: 2 No. Delayed Plant Outputs: 2 Training Samples: 3000 Maximum Plant Input: 1 Minimum Plant Input: 0 Maximum Plant Output: 10 Minimum Plant Output: 0 Maximum Interval Value (sec): 0.2 Minimum Interval Value (sec): 0.001 Training Epochs: 200 4.4. Kt qu m phng: Sau khi xy dng c h thng iu khin, ta chuyn cc thng s ca m hnh vo b iu khin v tin hnh hun luyn mng. Sau 200 k hun luyn sai s gia u ra ca m hnh i tng v u ra ca m hnh mng nron l 10-6.
90
Lun vn thc s
Hnh 4.6: D liu vo/ra ca i tng khi nhn dng
Hnh 4.7: D liu hun luyn vo/ra ca i tng,d liu hun luyn u ra ca mng v sai s
Hnh 4.8: Tp d liu kim tra
Hnh 4.9: Tp d liu chp nhn
Cc kt qu hun luyn c ch ra trn cc hnh 4.6 n hnh 4.9. Trong : Hnh 4.6 l tp d liu vo - ra ca i tng khi nhn dng, hnh 4.7 l tp d liu hun luyn vo - ra ca i tng, d liu hun luyn u ra ca m hnh mng n ron v sai s gia 2 m hnh sau 200 k hun luyn, hnh 4.8, hnh 4.9 l cc tp d liu kim tra v d liu chp nhn ( cng bao gm d liu vo - ra ca i tng, d liu u ra ca m hnh mng v sai s).
91
Lun vn thc s
Khi hun luyn v xy dng c m hnh nhn dng i tng, ta s dng m hnh ny iu khin h thng vi vi cc ch lm vic khc nhau, kt qu m phng c ch ra trn cc hnh 4.10 v hnh 4.11, trong : hnh 4.10 l c tnh ng ca h thng khi c nhiu ngu nhin u vo ca i tng, hnh 4.11 l c tnh ng ca h thng khi c nhiu ngu nhin u vo ca i tng v c tr
1.2
0.8
0.6
0.4
0.2
-0.2
50
100
150
200
250
Hnh 4.10: Tn hiu ra ca h thng c 1 nhiu u vo
1.2
0.8
0.6
0.4
0.2
50
100
150
Hnh 4.11: Tn hiu ra ca h thng c 1 nhiu u vo v c tr
4.5. Nhn xt kt qu T cc kt qu m phng trn, ta c th rt ra mt s nhn xt sau:
92
Lun vn thc s
Khi s dng mng nron xy dng m hnh i tng trong h thng iu khin d bo cho chnh xc rt cao (sai s bng 10-6 qua 200 k hun luyn), do cht lng ca h iu khin d bo cng tng ln. Phng php iu khin d bo theo m hnh c th p dng iu khin mc nc bao hi trong cc h thng l hi vi cht lng tng i tt, h thng vn lm vic n nh khi c nhiu u vo thng qua quan st c tnh ng trn hnh 4.10, vic thit k v chnh nh cc thng s ca b iu khin cng tng i n gin cn khi c nhiu v c tr th iu khin kh khn hn (hnh 4.11) v khi c nhiu nhiu tc ng cc vng khc nhau th vic iu khin l rt phc tp v trong thi gian ngn nn tc gi cha gii quyt c, cng l hng cc ti sau tip tc nghin cu. Bn cnh nhng u im trn, khi xy dng b iu khin d bo thng gp nhng kh khn nh: Xy dng b d liu nhn dng t h thng thc phn nh c ton b tnh cht ca h thng; Gii bi ton ti u ha phi cn n s h tr ca my tnh mnh, tc cao y chnh l cn tr ln nht khi p dng thut ton iu khin cc h thng nh. chy nhn dng cng nh m phng c phi mt thi gian tng i lu.
TM TT LUN VN
Sau mt thi gian lm lun vn, tc gi hon thnh lun vn tt nghip c giao vi ni dung: Nghin cu ng dng h iu khin d bo iu khin mc nc bao hi ca nh my nhit in. C th khi lng cng vic tc gi thc hin nh sau: 1.Nghin cu tng quan v iu khin d bo, trong a ra m hnh tng qut v b iu khin d bo, mt s m hnh trong iu khin d bo, u nhc im ca mt s m hnh ny, gii bi ton iu khin d bo. 2. Nghin cu v tm hiu v h thng iu khin l hi ca nh my nhit in 3. Xy dng hm truyn i tng v ng dng Matlab - Simmulink a ra cc kt qa m phng nhn dng i tng v kt qu iu khin i tng bng b iu khin d bo.
93
Lun vn thc s
Vic nghin cu v pht trin ca ti ch dng li vic m phng kim tra trn my tnh cha kim nghim bng b iu khin thc t. y chnh l gi cho hng i ca ti. Tc gi hy vng lun vn ny c th lm nn tng cho nhng ti tip theo, tng bc khai thc v hin thc ho ng dng b iu khin d bo trong iu khin qu trnh ni ring v trong cng nghip ni chung. Mt ln na tc gi xin chn thnh cm n thy gio, nh gio u t PGS.TS Li Khc Li, cc bn ng nghip v Khoa o to Sau i hc Trng i hc K Thut cng Nghip Thi Nguyn. Thi Nguyn, ngy 25 thng 2 nm 2009 Tc gi
L Th Huyn Linh
94
Lun vn thc s
TI LIU THAM KHO

[1]. Trn Th Vn Anh (2008), Nghin cu ng dng h m - nron iu khin mc nc bao hi ca nh my nhit in Ph Li, Trng i hc K Thut Cng nghip Thi Nguyn, Lun vn thc s. [2]. Nguyn Cng Hin (2006), Gio trnh M hnh ho h thng v m phng, i hc Bch khoa H Ni, H Ni. [3]. Nguyn Nh Hin Li Khc Li (2007), iu khin m mng nron trong k thut iu khin, nh xut bn Khoa hc t nhin v cng ngh, H Ni. [4]. Nguyn Th Mai Hng (2008), Nghin cu ng dng h iu khin d bo iu khin i tng phi tuyn, Trng i hc K Thut K Thut Cng Nghip Thi Nguyn, Lun vn thc s. [5]. Nguyn ng Khang (2005), Nghin cu iu khin qu trnh theo m hnh d bo, i hc Bch khoa H Ni, H Ni, Lun vn thc s. [6]. Nhm tc gi: Nguyn Thc Loan, Nguyn Th Phng H, Hunh Thi Hong. (2002), iu khin d bo h phi tuyn da vo m hnh m, Bi bo trn mng. [7]. Phan Xun Minh Nguyn Don Phc (2006), L thuyt iu khin m, Simulink, nh xut bn Khoa hc v Nh xut bn Khoa hc v K thut, H Ni. [8]. Nguyn Phng Quang (2006), Matlab K thut, H Ni. [9]. Hong Minh Sn (2006), C s h thng iu khin qu trnh, nh xut bn Bch khoa H Ni, H Ni. [10]. Allgower, F., and A. Zheng (2000), Nonlinear Model Predictive Control, Springer-Verlag. [11]. Camacho, E. F., and C. Bordons (1999), Model Predictive Control, SpringerVerlag. [12]. Kouvaritakis, B., and M. Cannon (2001), Non-Linear Predictive Control: Theory & Practice, IEE Publishing.

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I HC THI NGUYN TRNG I HC K THUT CNG NGHIP --------------------------------------

LUN VN THC S K THUT NGNH: T NG HA

NGHIN CU NG DNG H IU KHIN D BO IU KHIN MC NC BAO HI CA NH MY NHIT IN

THI NGUYN 2009

I HC THI NGUYN TRNG I HC K THUT CNG NGHIP --------------------------------------

LUN VN THC S K THUT NGNH: T NG HA

NGHIN CU NG DNG H IU KHIN D BO IU KHIN MC NC BAO HI CA NH MY NHIT IN

Hc vin: L Th Huyn Linh Ngi HD Khoa Hc: Nh gio u t PGS.TS Li Khc Li

THI NGUYN 2009

LUN VN THC S K THUT

NGHIN CU NG DNG H IU KHIN D BO IU KHIN MC NC BAO HI CA NH MY NHIT IN

S ha bi Trung tm Hc liu i hc Thi Nguyn

Thi Nguyn, ngy 25 thng 2 nm 2009

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

DANH MC CC K HIU, CC CH VIT TT

- u, y l tn hiu iu khin d bo v u ra d bo tng lai tng ng ca h

- v(k) l cc tn hiu u vo h thng - J ,k Hm mc tiu

- z k : vector cc tn hiu c th xc nh trong h thng

j : ma trn la chn cho (diagonal selection matrix) vi cc gi tri zero v 1

trn ng cho. l trng s trn tn hiu iu khin

l mt a thc vi cc cc vng kn mong mun.

- Go(q): m hnh h thng.

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

Hnh 1.1: S khi iu khin mc nc bao hi

S ha bi Trung tm Hc liu i hc Thi Nguyn

Hnh 1.2: Cc tn hiu trong iu khin d bo

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

Thut ton iu khin d bo Hm mc tiu

S ha bi Trung tm Hc liu i hc Thi Nguyn

Hnh 2.1. (a) S khi h thng iu khin d bo (b) Chin lc iu khin d bo

S ha bi Trung tm Hc liu i hc Thi Nguyn

S ha bi Trung tm Hc liu i hc Thi Nguyn

u vo v u ra qu kh (Past Input and Outputs)

u ra d bo (Predicted Outputs) (-)

u vo tng lai (Future Inputs) B ti u (Optimizer) Sai lch d bo (Future Error)

Hm mc tiu (Cost Function)

iu kin rng buc

Hnh 2.3 Cu trc c bn ca MPC

S ha bi Trung tm Hc liu i hc Thi Nguyn

Hnh 2.4: M hnh tng qut b iu khin d bo

: trng s trn tn hiu iu khin

l mt a thc vi cc cc vng kn mong mun.

Trong phng trnh (2.1), k

xc nh s cn bng gia sai s trng thi u ra (thnh phn th nht trong

trong phng trnh 2.2 thnh phn e k j | k nh hng n hm mc tiu ch khi

k l thnh phn sai s cho php trong b

Cc dng hm mc tiu trn u c th a v dng bc hai tng qut sau:

trong : - z k : vector cc tn hiu c th xc nh trong h thng

j : ma trn la chn cho (diagonal selection matrix) vi cc gi tri

zero v 1 trn ng cho. Xt hm mc tiu (2.1): chn:

thay vo (2.3) ta c hm mc tiu (2.1). Xt hm mc tiu (2.2): chn:

S ha bi Trung tm Hc liu i hc Thi Nguyn

Trong x l trng thi d bo, Hp l tm d bo v xss l trng thi xc lp ca h

k khng ph thuc vo u vo tng lai ca h thng; ~ k l mt vector.

Trng hp iu kin rng buc gii hn bi hai gi tr cn trn v cn di nh sau:

ta c th a v dng tng qut nh sau:

Rng buc phng trnh: