Nguyln Thi Mai Hmrng vd Dig Tap chi KHOA HOC & CONG NGHE 128(14): 161 -165 ON DINH HOA HE THONG HAI CANH QU^iT NHIEU DAU VAO NHIEU DAU RA DUA TREN PHU'ONG PHAP QUY HOACH DONG CUA BELLMAN Nguyln Thi Mai H u o n g ' , Mai Trung T h i i ' , Lai Khac L5i'*, D6 Thj Td A n h ' 'Truong Dal hoc Ky Thugl Cong Nghiep - DH Thai Nguyen 'Dai hoc Thai Nguyen, Dai hoc Bach khoa Ha Npi TOM TAT Dieu khien du bao theo mo hinh truac day hku nhu it quan tam din tinh 6n dinh cua he thdng He thing hai canh qu?t nhilu dlu v^o nhilu diu (Twin Rotor MIMO system - TRMS) la mgt he thong phi tuySn, co dac tinh dgng hgc kha phiic tap [11], Cac tac gia [10] d§ x^t tinh on djnh ciia he thong TRMS theo phuong phap r^ng buoc diem culi, Bai bao dua kit qua ap dung dieu khien du bao true tilp tren nen quy hoach dgng cho he thong TRMS dl xet tinh dn dinh ciia he cac ket qua mo phong cita s6 du bao tien den v6 ciing cho thay c^c tham so trang thai ciia doi tupTig tien v6 khong (diem can bang cua he thong) chiing to he thong on djnh toan cue T u k h o i : Tham so trgng thdi, h^ thong hai canh quat nhieu ddu vdo nhieu ddu ra, su on dmh, quy hogch dgng, diiu khiin dg bdo GIOI THIEU C H U N G tuyen tinh co tham so la hang so hoac tham so Toi uu hoa dieu khien du bao la mgt van de kho dang d u g c nhieu nha khoa hgc bien doi theo thai gian, Bai bao chung loi ap dung p h u o n g phap quy hoach dgng de giai va ngoai n u o c quan lam nghien cuu T u bai toan toi uu cho he thong co tham so phu truoc den nguoi ta chu yeu sir d u n g cac thugc trang thai T R M S p h u o n g phap tim nghiem co h u o n g tren cira M O HINH T R M S s6 d u bao h&u h^n d l toi \x\x hoa dieu Hinh la he thong T R M S khien d u bao nhu p h u o n g phap gradient, Rolordudi Hop bao ve Newton - Raphson (Newton - Optimization, Newton type), hay G a u s s - Newton vi eac Clifll quay p h u a n g phap kha thuan lgi cho dang cac bai toan toi uu bj rang bugc CQng da co mgt vai ling dyng cac p h u o n g phap toi uu hoa khac khong su dung huong tim nhu Levenberg-Marquardt hay trust region, song t i t ea cac p h u o n g phap t6i uu hoa da d u g c sii dung deu chi co the d u g c cai dat voi cua so d u bao hiru ban, do khong dam bao dugc tinh toan cue ciia nghiem toi uu lim d u g c va d i n den viec kho dam bao d u o c tinh on djnh he thong [2] P h u o n g phap quy hoach dgng la mgt cong cu rat tot c h o viec giai bai loan toi uu nhieu bien Hinh \ He thing TRMS Xet he thong T R M S CO mo hinh dir bao nhir sau: va dam bao d u g c tinh toan cue ciia nghiem t6i f;i(* + ;+l|*) = /lWt+(|i));K* + '|*) + eW* + ;|*))i(*4-,|*) uu Tuy nhien hien p h u o n g phap moi »+;|*) = CW* + /|*))i;((:+,i*) d u g c ap d u n g de giai bai loan toi uu cho he Tel: 0913 507464 (1) i= QX ,N^-\ 161 Nguyan Thj Mai Huong vd Dtg De xac djnh dugc tin hieu dieu khien j ^ t^i cua so du bao hien lai, cho su anh huofng cua sai lech mo hinh Sj lai chat lugng on djnh ^ ->• la nho nhat iing vai mo hinh du bao (1), la se sir dung ham muc tieu dang toan phuang [1]: lift • iHk^ih, £ hX, 128(14): - Tap chi KHOA HOC & CONG NGHE (2) -^ • do: voi Qj., Rj- la hai ma tran doi xiing xac djnh duong tiiy chgn De tang tinh mem deo cho bg dieu khien sau nay, la co the thay doi Qj^, Ri^ theo k, lire la thay doi dgc theo true thoi gian t = kT^ iah dong dien phSn ung ciia dgng ca duoi (A) OJA Van t6c goc cua canh quat duoi (rad/s) 5ft.- van t6c goc cua canh tay don TRMS mat phang ngang ma khong bj anh huong boi canh quat chi'nh (rad/s) iav' Dong dien phan ung ciia dgng ca duoi (A) co^: V|n t6c goc ciia canh quat chi'nh (rad/s) Sy: Van toe goc ciia canh tay don TRMS mat phang thSng dgc ma kh6ng bj anh huang eiia canh quat duoi (rad/s) a / Vi tri Iheo phuong thSng dung (pitch angle) ciia canh tay don TRMS (rad) Ul,: Tin hi$u di?n ap dau vao ciia dgng co duoi (V) f// Tin hieu dien ap dau vao cua dgng co chinh (V) Cac phuong trinh khong gian trang thai Uen tuc phi tuyen cua TRMS dugc dua [10]: Khi eura so du bao la v6 ban {Np =co) thi viec toi uu hoa dugc thuc hien nhu sau: ham muc tieu (2) se viet lai dugc thanh: (3) '• 5,ll-^+'llQi "^ll-^+»IU phuong phap quy hoach dong cho ket qua sau [I]: J " •' ' ,' /,/,K)cosa.-/;(n.)-;;(a.) Dcos' ai^ + £sin^ tx,+F km cosa Dcos (a + £sin Ct + F «t=-(flt+-BfiSl)''BfL43;i (4) R I, ,n L la nghiem doi xung cCia: t = 5, + /^Lyi-B, [R, + BlLB,f BJL J4 •I " J- ' J /;(o)X;.+*^n,cos