TAP CHl KHOA HOC VA CONG NGHg - SQ - TRU&NG DAI HQC PHAM VAN D O N G BO DIEU KHIEN THICH NGHI CHO THANH GAT MLTC CUA MAY IN LTJA CO CAC THONG SO KHONG CHAC CHAN Pham Vdn Anh"' TOM T A T Bdi bdo ndy trinh bdy mpt giai phdp diiu khiin bd phdn gift muc mdy in lua Bp phdn ndy bao gom hi thing truat vit me bi kit hap dpng ca diin mpt chieu vd mpt gat muc Trong thuc ti hi thing ndy co nhiiu thdng sd khong xdc dinh duac Bdi bio ndy di ngU phuang phap Sieu khiin thich nghi di diiu khiin vi tri vd van toe ciia gat muc ndy theo thai gian Bd diiu khiin thiit ki duac chieng minh Id hpi tii cdc sai sd ve khdng Thong qua cdc kit qud md phdng, ddp ling cua he thdng ddi vai cdc quy dao khac cua gat muc dupe the hiin rdt tdt G161 THIEU Hinh Ca chi ldm viic ciia thiit bi gat muc in mdy in lua Trong cac may in lua, gat muc la mpt thiet hi quet ddu lupng muc len cac ban in (hinh 1) Chit lupng ciia cac ban in chiu anh hudng rat nhieu boi ehuyen dpng cua g^t Thanh gat miic sii dimg xilanh nen duac sii dung nhieu vi gpn va ket cau don gian Tuy nhidn dupe dieu bang eae van nen kieu on-off dien tir thudng gay hi?n tupng rung ddng Do dd lam cac ban in de hi nhoe va khdng thd tang cao imng xuat Khi sii dung ket hpp xi lanh vai van ti le hay servo thi chat lupng dupe cai thidn, nhidn gia tuong ddi cao Tuy vay, khdng phai chat luong dieu khidn eiia he thdng thay the mdi eon phy thupc nhieu vao cac thdng sd ciia he thdng Mpt sd eac thdng sd cd the dupe bang thuc nghiem, nhimg eung nhidu thdng sd khdng chinh xac dupe Kd thita bai bao nghien cuu trudc day [1], bai bao dd xu$t mpt phuong phap didu khidn vi tri ciia gat muc trdn co sd dieu khidn thich nghi Cae dap ling cua b$ didu khidn mdi hieu qua va CO chit lupng tdt nhidu he thdng khdng xac dinh dupe eac thdng s6 MO HINH DONG LlTC HQC Md hinh he thdng trupt gat muc diiu khidn bing dpng ca dipn mdt chidu dupe thi hien md hinh nhu sau: 76 • JOURNAL OF SCIENCE AND TECHNOLOGY • TAP CHl KHOA HOC VA C N G NGHE - SO - TRLf&NG BAI HOC PHAM VAN D O N G BlL Hinh He thong gat muc vd mo hinh thu gpn Phuang trinh ddng luc hgc cua he thdng dat dugc blng phuang phap Lagrange: V^it)M[j„.jff.M\, [B +Bj^ ( S + B j ^ + g_^ -K,^ + B., U^ ( / + ) ^ + M (1) Dat: h,=- K, (J +j)?£+M {B,.+Bj^ + B,, i.B.+Bj^ + B,, -^|{/ y)^+M iTT t = V, hjX + h2X + hjX ~ u (2) Trong thuc td, cac thdng sd ciia ddng ca didn Ra, La, Kt, Kb, Jm ed the tham khao tir nha san xuit Tuy vay eac thdng s6 J, B1L, B2L khd cd thd dupe ehinh xac, de dp cac hd so hi, h2, hj khdng xac djnh dupe chinh xac Dd giai quydt khd khan nay, bai bao dd xuit m$t phuang phap didu khidn d^ra tren mdt md hinh tham chieu ly tudng chpn trudc T H I £ T K E B O B I E U KfflfiN THICH NGHI H e t l i o n g \— H I BO uroc l u o n g c a c t h o n g s o c u a hg t h o n g Hinh So khdi dieu khien h^ thong • JOURNAL OF SCIENCE AND TECHNOLOGY • 77 TAP CHi KHOA HOC VA CONG NGHE - SO - TRU'ONG B A I HOC PHAM VAN B O N G Mdt bd dieu khidn dupe thidt ke nhim hpi tu cac bidn trang thai vd khdng dupe thi hien hinh Bd didu khidn tac ddng vao he thdng qua tin hieu u Bp udc lupng dua tren tin hieu tac ddng u va cac gia tri dupe tii dap irng de suy didncac thdng sd khdng bidt cua hd thdng Phupng phap didu khiin thich nghi dua vita dd hdi tu eac thdng sd M thdng ve gia tri yeu cau, vira udc lupng cac thdng sd cua he thdng Tir dd chit lupng va dap ling dupe cai thien han Bd didu khien thich nghi phai la mdt bd dieu khiin dn dinh dupe cac sai sd ciia h? thdng ve gia tri nhanh gidi han cho phep, nhung cac thdng sd ciia he thdng khdng biet trude ho^c khdng thd xac dinh chinh xac duac Trong cac hd thdng thue te, ed rit nhiiu cac thdng sd khdng dupe, ciing cd the la cac thdng sd bien ddi qua trinh lam vide hoac theo tudi thp ciia ehi tiet Chiing tdi dinh nghia mdt ham s nhu sau: s =e + 2Xe + /l^e ty, Trong dd: '^•'• la vi tri yeu ciu va sai sd e dupe dinh nghia nhu sau: ^~^~^'' Chpn luat dieu khien: u=h^\x,^-2Xe-2}e)~y/s + h^x + h^x ,., Neu eac thdng sd eiia he thdng xac dinh dupe hoan toan thi (4) la luat didu khiin cua he thdng Tuy nhien, thue te lai khdng don gian nhu vay, cac thdng sd nhu: dp can nhdt, md men quan tmh ciia cac khau lai khdng di dang dupe Do cac thdng sd nhu " ^' ' khdng tinh toan chinh xac dupe Luat didu khidn thich nghi dupe dua nhu sau: u=h,\x^~2Ai!-^ej-if/s + h2X + (\x ,., Thay vao he thdng (2), chung ta cd dupe: AjX + Aji + /iji = Aj{xj -2Ae-A.^e)-y/s + h^x + \x }e]-hXii,~2>^-!^i)-h.^x-'h,x + iiK=i) » V + !w = A,(xj-2Aii-;l^e)+Jji + A,i