Tuyen tap bao cao khoa hgc Hdi nghi Khoa hgc ky thuat Do ludng toan qudc ldn thiir IV Hd Noi, 11 - 2005 TONG HOP Bp DIEU KHIEN PID BEN V Q N G CHO DOI TUONG THAM SO M d DAM BAO DO DU T R Q M d VE BIEN DO VA PHA Le Hiing Ldn, Le Tin Tuyet Nhung Tnfdng Dgi hgc Giao thdng Van tdi Tdm tdt: Bdi bdo difa mgt pliifaug phdp thie't ke' hg diin khien PID hen vffng tren cff sd ky thudt phdn rd D cho mgt ldi? ddi tifcmg co md td difdi dgiig tap md khdng gian tham so ciia hdm truyen cd tre ddm bdo dif tri'f md cho trifdc vi bien vd pha Ke't qua nhdn dtfgc tap cdc hg diiu khien bin vffng ddm bdo ddng thdi dif trt'f tdt nhd't cho cdc tnfdng hgp hay \dy vd dtf trifkem han iho cdc tnfdng hgi) it xdy ia Abstract: This paper present a method to design the robust PID controllers for a fuzzy set in the paiamefer spate of a lineai transfer fnncdon plus delay with gain and phase margins, that obtained hy D-partition technique A set of lohnst PID controllers resulted has both good margin in most of situation and more relaxed margin in infrequent cases I DAT V ^ DE Xu hudng chung cua ky thudl didu khifin tu ddng la lim cac bifin phap ndng cao chd'l lugng didu khidn cua cac qua trinh phiic tap Theo xu hudng dd, difiu khidn bdn vung va dieu khidn md da dat dugc nhidu ket qua nghien ciiu dang ke Irong vai trd ky thudt xir ly cac bdi dinh cua md hinh hfi thd'ng ddc bifit la ddi vdi he phi tuye'n Trong cac thifit kfi' he thd'ng didu khien ben virng cd mdt nhugc didm la cd gang lim bd didu khidn nhdm thda man yfiu cdu chdi lugng cho ca mdt Idp ddi tugng nfin cd Ihd xay trudng hgp thdi bai ldp dd qud rdng Cd hai hudng khdc phuc nhugc didm nay: (a) Giam thidu yfiu cdu chdt lugng; (b) Sir dung ky thudt didu khifi'n thfch nghi Tuy nhifin phdn ifch ky Idp ddi tugng, dfi nhdn thd'y rdng thuc te dii cho Iham sd la khdng xac dinh nhung cd xu hudng thudng xud't hifin d mdt khoang nao dd va fl xay d khoang khdc Do dd cd the cd gdng tim giai phdp thifit ke he thd'ng dam bao chat Iugng cao nhd'l ddi vdi ldp ddi tugng hay gap va dam bao chat lugng tfi'i thidu cho ldp do'i iugng ft xay Ddy Id hifdng di nidi vd se difgc di cap chi tie't hdi bdo Trong bai bao, lap md dugc su dung dd md la ldp tham sd dd'i tugng va md la cac chudn chdi lugng mifin tdn sdcd dang ham thudc nhu hlnh ve (1) Xet didu khifi'n vdi ddi tugng bat djnh P(s,q) dd q la vector cac tham sd bdt dinh, mdc ndi lie'p vdi bd didu khien PID Irong mach kfn phan hdi dm don vj Ham iruyfin bd difiu khidn C(s) = K,-i-^ + K„s s Gpi 'P la tap mcr co chita doi tuong P va tap mcr,t cua tieu chua'n S ' P = {P,/i(P)}:rf={S, / " ( S ) ) (1) (2) Muc tifiu ddi la ihie'l kfi' bd didu khidn PID dam bao cho he kin vdi tdi ca cdc ddi tugng tdp P thda man lap md lifiu chuan S Ndi cdch khac cdn phai tim bd didu khifi'n PID dam bao: Vdi mpi P(x thda man tieu chudn S^^ (3) Trong dd chi sd a la lat cdt or cua tdp md Pa={P,u(P)^a]-^^a = {S^M(S)>a] (4) Vdi gia In xac djnh ciiaa bai loan dat cd the coi nhu mdt bai loan didu khidn bd virng quen thudc: hay tim bfi didu khien PID dd he thd'ng vdi Idp ddi tugg khoang IP(s,q),q'