TONG HOP BO DIEU KHIEN VI TRI T I UtJ CHO M O T LdP DOI TU^ONG Cb QUAN TINH LdN TRONG THIET KE CAC HE THONG TRUYEN DONG BAIVI Ddo Hoa Vi^t^"\Thdi Thanh Nga^''\ Trdn Diic Chiiyen^'^ (a) Bd Mdn Ky Thugt Di?n, Khoa Kf Thudt Diiu Khiin Hgc Vien Ky Thudt Qudn Su Ti (b) Cao Dang Nghi Ky Thudt Thiit Bi YTe-BoY (c)Khoa Diin Diin Tir, Dgi Hgc Kinh Ti Ky Thugt Cdng Nghi?p - Bg Cdng Thuang Tom tdt: Trong thiit ki cdc h? thong truyen dgng cdng nghi?p vd h? truyin dgng bdm qudn su thuang gap cdc doi tugng cd qudn tinh lorn, cdn gidi quyet bdi todn dieu khiin vf tri gdc, dich chuyin ddi tugng tir v/ tri ndy sang v/ tri khdc mgt cdch tipn can khong c6 dg qud chinh vd bdo ddm tinh tdc dgng nhanh cue dgi Ddy Id bdi todn diiu khien tdi uu da muc tieu vd cd nhiiu cdch gidi quyit khdc Bdo cdo ndy trinh bdy mgt phuang phdp tdng hgrp bg diiu khiin vi tri tdi uu phi tuyen theo tieu chudn toi uu md dun vd cdu true biin ddi Di gidi quyit cdc bdi todn dgng ndy, viec sir dung cdc phdn mim md phdng Id cdc cdng cii trcr giup ddc luc vd cd hiiu qud Abstract: In designing of Industrial Driven Systems, Military Tracking Driven Systems, we offen work with objects that have: large inertia, angle position control problems, asymtoticaly moving objects from position to position without deviation and maximize quick-action charateristic This is multitask optimal control problem, and we have severed solutions This report presents a solution for synthesizing a nonlinear, optimal position controller following module-optimization and variable-structrure standard Simulation softwares are very usefidl and effective assitant tools for solving such kind of problems LMdDAU Trong thilt kl cdc h? thong tmyln dgng cdng nghi?p vd h? tmyln dgng bdm qudn sir thudng gap cdc ddi tugng cd qudn tfnh Idn Can gidi quylt bai todn dilu khiln vj tn gdc, djch chuyen ddi tugng tir vj tn sang vj tn khdc mgl cdch tigm can khdng cd dg qud chinh vd bdo ddm tfnh tdc dgng nhanh eye dai [I], [2] Day Id bdi todn dilu khiln tdi uu da myc tieu va cd nhieu each gidi quyet khdc Bdo cdo ndy trinh bdy mgt phuang phdp tdrig hgp bg dilu khien vj tn tdi uu phi tuyen theo tieu chudn toi uu md dun vd cau tnic biln ddi Bk gidi quylt cdc bdi todn dang ndy, vi6c sii dyng cdc phan mim md phdng la cac cdng cu tra giup ddc luc vd c6 hieu qud n T6NG Hgfp BQ DIEU KHIEN VI TRI TOI utJ He thdng dilu khiln vj tn vdi gdc sai lech Idn dyac xay dyng vdi cdu tnic biln dii Qud trinh lam viec khu gdc sai lech Idn gdm hai giai doan Khi gdc sai lech Idn lam viec nhu ht ha, gdc sai lech nhd Idm vigc nhu he kfn dilu khiln theo sai lech [3] Tren hinh tnnh bay Sa dd cau triic cua he thdng dilu khiln vj tn gdc sur dung ddng ca mdt chilu va bd biln ddi cdng sudt Thyristor cd ham truyin Id khau qudn tfnh 726 (p, '®^[^^^7Y^{'^^^7\-^ (p Hinh Sor d l c^u triic hf thing dilu khien vj tri goc Xet he thdng d vung sai lech nhd Thyc hien tdng hgp bg dilu chinh vj tri tren ca sd cho rang vdng tdc vd ddng dien da dugc tong hgp theo tieu chudn tdi uu md dun hodc tdi uu dii xirng Ggi T^ Id tdng hdng sd thdi gian nhd khdng bii (T^ = r„ +7;^) Hdng sd thdi gian can bii Id TM D O he cd qudn tfnh ca hgc Idn nen TM khd Idn Ddi tugng ciia bd dilu chinh vdng vi tn' Id: W Q ^ = WK