Le Thi Thu H^ vd Dtg Tap chi KHOA HQC & CONG NGHE 128(14): 139- 147 DIEU KHIEN BAM HE TRUYEN D Q N G BANH RANG V l BQ OIEU KHIEN DlT BAO C O RANG BUOC Le Thi Thu Ha', B6 Thj Tu Anh^ Trudng Dgi hoc Ky ihuat Cong nghiep - DH Thai Ng 'Dgi hoc Bach Khoa Hd NQ TOM T A T Bai bio gidi thi?u m6t phucmg phap thiet ke bo di§u khiln du bao phan hoi trang th^i dk diku khien bam on dinh h6 truyen dong qua banh r5ng c6 cac dieu kien rang buoc Bo dieu khiln du bdo ciia bdi bdo sir dung mo hinh xap xi tuyln tinh ciia he truySn dong banh rang va sir dung ham muc tieu dang todn phuong co tham s6 bien d6i, do luon chuyin bdi loan dilu khiln co rdng bupc thdnh bai todn khong rang buoc Do sir dung nguyen ly toi uu sai lech bdm la nho nhat nen mdc dii i\s dyng mo hinh xap xi tuyen tinh, song bp dieu khien van cho thay dupe chat lupng bdm tot Td' khda: Dieu khien du bdo; Hi truyen dong banh rdng; Toi uu hoa co rdng bugc DAT VAN DE H? truyen dgng qua banh rang (hinh 1) la mot so cac he truyen dgng dugc sir dung rgng rai nhat cong nghiep, vi vay van de chSl lugng di8u khi6n he IruySn dgng qua banh r5ng ciing giO" mgi vai tro khong nho chSl lugng he thong di6u khien qua trinh noi chung Tu ly do ma viec nang cao ehSt lugng dilu khiln h? truyin dong qua banh rang luon mang tinh thoi su va nhan dugc su quan tam d^c bi?t ctia cac nha thilt ke he thdng dilu khiln qua trinh Bai loan dieu khien he truyen dgng qua banh rang dugc quan tam bai bao la phai xac djnh dugc quy luat thay doi moment dan dgng tao tiJ dpng co dSn dong de he co dugc toe d^ goc ciia tai dau luon bam on dinh dugc theo mgt quy dao dat truoc va dieu phai khong dugc phu thuoc vao cac tac dgng khong mong muon vao he Tat nhien de dieu khien dugc he truyen dgng voi chat lugng cao can phai co mo hinh toan mo ta chinh xac he truyen dgng Tai lieu [5] da gioi thieu mpt mo hinh nhu vay, no chua dung gan nhu day dii tat ca nhung phan phi tuyen rat kho xac dinh dugc mgt each chinh xac, song lai giu vai tro khong nho toi ch5t lugng truyin dong cua he Do la cac phan nhu nhung luc ma sat khac nhau, Emad- hahienI977@gmad com khe ho giira cac banh rang, dp cung vDng cua vat lieu Tuy nhien mo hinh cang chinh xac, cau true phi luyen ciia mo hinh cang rac roi, keo theo phuong phap dieu khien cung nhu bg dieu khien sau cang phuc lap va linh lin c|y cung nhu tinh ben vung cua be dieu khien cang giam Bdi vay Irong thuc te nguoi ta thudng chi can den mpt mo hinh loan vira du chinh xae eho van co the dam bao dugc chat lugng dieu khien dat ra, ma lai khong lam phiic tap cau true ciia bp dieu khien sau |BilnllnP~ Hinh 1: Dieu khien he truyen dgng qua banh rdng Phucmg phap dieu khiln don gian nhat thuong dugc ap dung la dieu khien PID [2] Day la phuong phap doi hoi mo hinh loan he truyen dgng phai xap xi dugc ve dang tuyen tinh Song nlu x4p xi ve dang tuyen tinh nhu vay ta da phai gia thiet la Irong he truyen dgng khong co khe ho, ma sal va khong CO moment xoan (vat lieu la tuyet doi cung) Dieu da v6 tinh lam giam chat 139 Le Thi Thu Hd vd Dtg Tap chi KHOA HQC & CONG NGHE lugng he thdng dilu khien, vi eac gia thiet neu tren rat de bi pha vo thuc te Nhu vay, mu6n nang cao ch§t lugng he thong ta phai sir dung mo hinh phi tuyen cua no, Tuy nhien sir dung mo hinh phi tuyen cimg voi phuong phap dilu khiln tuyen tinh ta phai tuyen linh hoa xap xi mo hinh phi tuyen cita no xung quanh cac diem lam viec Cac phuong phap da dugc gioi thieu o tai lieu [7],[10] la nhiTng vi du vl nhom phuong phap dieu khien Song viec luyin tinh hoa xung quanh diem lam viec ma khong phai tra gia cho su sut giam chat lugng dilu khien khong phai luc nao ciing thuc hien duoc, dac biet la co sir Iham gia ciia cac phan phi tuyen manh nhu ma sat, khe ho, cirng vUng ciia vat lieu Do do, dl v5n khong lam giam chat lugng he thdng phai tuyen tinh hoa ngucfi ta da SIX dung them cac co cau nhan dang ma sat, khe ho hay cung vimg cua vat lieu de dilu khiln bii su anh huong ciia chung tdi phin dgng hpc tuyIn tinh md hinh, trudc sir dung bd dilu khien luyen tinh Mpt sd tai lieu nhu [3], [12], [17] da cdng bo cac ket qua dieu khien di theo huong giai quyet Tat nhien vdi hudng giai quyet bang each bd sung them eac co cau dieu khien bii do, cau true bd dieu khien se cang phuc tap them, keo theo tin cay va tinh ben virng ciia chat lugng dieu khien cang giam Bdi vay, cudi ciing xu hudng thiet ke bp dieu khien true tiep tren nen md hmh phi tuyen cua he truyen ddng la mdt giai phap dung dan Nd hua hen se khdng lam lang them tinh phirc lap cLia cau trite he dieu khien ma van dam bao dugc chat lugng dieu khien dat ban dau Cac tai lieu [6], [8], [13], [14] da cdng bd mdt so ket qua ve xu hudng dieu khien thich nghi ben vGng phi tuyen nay, Mac dii vay lat ca cac phuong phap dieu khien neu tren, ke ca phuong phap dieu khiln thich nghi ben virng phi luyen, se van bj ban che nlu nhu yeu cau chat lugng dieu khiln dat ban dau cd them gia thilt ve tinh 140 128(14): 139-147 bi chan cua tin hieu dilu khien, d day dugc hieu la moment dat d banh rang chii d^ng, hoac khoang gia tri biin thien cho phep ciia eac trang thai he, chang ban nhu cac gidi ban vl toe do, gia tdc cua cac banh rang, Nhirng gia thilt nay, tir yeu clu vl linh bin vung cua he thdng, ludn phai dugc thda man, ,nham cd the dam bao dugc vat lieu ciia he banh rang khdng qua bj mdi thdi gian lam viec Mpt cac bg dilu khiln dugc xay dung tir md hinh phi tuyen ciia ddi tugng dieu khiln ma vin thda man cac dilu kien bi ch|n vl dai biin thien gia tri ciia cac tin hieu dilu khiln va Irang thai ciia he la bg dieu khien dy bao theo md hinh, dugc vill tat MPC (model predictive controller) Bai bao se trinh bay phuong phap Ihiet kl bg dilu khien du bao eho he truyen ddng qua banh rang, cd md hinh phi tuyen chiia dSy du cac phSn luc ma sat, khe hd va dp khdng cihig virng cua vat lieu ben la [5]: 'jsA=^i ~^m , -d(.t)rQ,iF,+D,) •^Sr+\'Pr+i =(^l+\ +^m.il+\))-d(i)ro.,.,l(F,^,+A+,) (0 do, d (I) ta da bo qua hien tugng va dap banh rang [5], Viec bd qua la hgp ly vi vdi bai toan dilu khiln thi khoang thdi gian xay qua trinh va dap banh rang la v6 ciing nhd so vdi oua trinh qua do, nen cd the xem nhu xap xi bang Ngoai ra: - d{t) la ham md ta khe ho, - Mj„„ la tdng cac moment ma sat tai cap banh rang thu" i, A^,,M,+] la cac moment vao va d banh rang thir J cd M, - M,i la moment dai d dau vao, dugc lao bdi dgng ca, (Fi+D,) la luc bien dang dan hoi va luc giam chan giira hai banh rang cap banh rang thu i dugc xac dinh theo cdng thirc: (F, + DJ = q% cos^ tti(p, + J,_,+iP,+i) (2) vdi To,, ^,, i,,+i, c, ISn lugt la ban kinh vdng Iron CO sd, gdc quay, ty sd cac rang giira hai banh rang va cung virng vat lieu cua cap banh rang thir i LeThiThuHdva£)(g T?p chi KHOA HOC & CONG NGHE Nhiem vu dieu khien bam dn dinh ben vihig cho he truyin dpng banh rang (I) dugc dat d day cho bai bao la phai thilt ke dugc bg dieu khien MPC phan hoi tr^ng thai de he truyin dgng gdm n cap banh rang cd gdc quay dau ^!9„ bam theo dugc quy dao mong mudn Pj^j *',