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Tap chi Khoa hoc va Cong nghf 102 (2014) 017-021 Dieu khien giam dao dong can true khong dung cam bien goc su dung mang na ron Sensorless control for swing reduction of overhead crane using neural network Ngo Van Thuyen^*, Doan Xuan Nam^, Mai Nhat Thien^ 'TnrangDaihocSuphamKythugtTp.HCM-S6 I Vd VanNgan, Q Thu Dice, Tp Hd Chi Minh ^ Truang Dai hpc Cong nghiep Thitc pham Tp Ho Chi Minh ^ Tru&tigDai hoc Sicphgni Ky ihuqt Vtnh Long Din Tda soan 11-03-2014 chdp nhan dang 25-08-2014 Tom tit Phifang phap diSu khiSn khong dung cam bi4n cac he thSng lam giam chi phi 6ku tw va tang tinh tin c$y cija he thdng Bii bao trinh bay phuang phip lam suy giam goc dao dong cho tai cua cSn true qua trinh di chuyin ma khong diing cam biSn goc di goc dao dcng Bq di4u khiin vi tri sir dung thuat toan PID Mang na ron truyin thing mot lap in vai luat hoc lan truyin nguac duac S(> dung de thiet ke bo diSu khien suy giam goc dao dong cua phu tai qua trinh di chuySn din vj tri mong muon Dong dien cua dong ca truyin dong phu tai dirqic gioi han gioi han cho phep bSing bo diiu khiin dong dien kiiu PID Ket qua mo phong cua he thdng tren Matiab cung nhu kit qua thiec nghiem tren mo hinh can true thi/e diiu khiin bSng DSP TMS320F28335 cua Texas Instrument cho thay goc dao dong cua phu tai duac suy giam dang ki va tirang ttr nhu truxyng hap s& dung cam biin goc lu khoa- Can true, giam dao dong, di4u khien khong cam biln, mang no ron Abstract Sensodess control in a physical system helps reduce the equipment cost and increase the working liablility In this paper, a control algorithm to reduce the swing angle of the load of an overhead crane without using sensors for angle measurement to reduce the cost as well as increase the reliability of the system was presented The load position was controlled by a PID controller An anti-swing controller for the crane was designed using a feed forward neural neh/vork with one hidden layer and the backpropagation learning rule A PID current controller was also designed to limit the current of the motor driving the load The simulation result on Matiab as well as the experiment data on a real overhead crane system model controlled by DSP TMS320F28335 of Texas Instrument showed that the swing angle of the load was reduced significantly and comparable with that of sytems using angle sensor Keywords- Crane, Sensorless control, Neural network I Gidi thieu ^ , , ; ; i , X , Trong he thong can true, viec mat kiem soat dao dpng cua phu'tai lam giam hieu su§t van chuySn cung nhu CO the gay nhfhig hau qua nghiem trpng cho ngudi va moi truong xung quanh, nh5t la xay hipn tuong dao dong cong hirdng He th6ng d i k khi^n c k true phai di chuySn tai nhanh dan vi tri mong mu6n, d6ng thai dao dpng phat smh qua trinh di c h u y k phai dugc dap tat, biet Da co nhieu bo dieu khien cho can true dupe thiet ke bang cac phuong phap khac nhu PID , ° - , , , , [3],4], thay doi hinh dang tin hieu vao va bp dieu khien LQR [5], logic md [6] Dieu khien vong kin i^ho ket qua rat tot doi vai he thong can true Trong cac he thong nay, cam bien goc dupe sii dung da dao dong ciia tai can true di chuygn Viec sii diing cam bien goc lam cho chi phi cua he thong tang len, '^""g l^hdi cac earn bien goc thudng co nhieu lam cho ket qua dieu khien khong tin cay dac biat la he dpng ?hoa khien can true, Huong dau ^ ^°qua ' ^ ^trinh L ' i ' ^dieu " !.'^°?!-l!^'"'l_"?^™,^"L^^.,.^" tien la dieu khien dang vong hd ciia cac tac gia Singhose [ ] va Manson [ ] Dieu khien vong hd lam cho he thong nhay cam vdi cac nhieu loan ben ngoai va thong s6 biln ddi Hudng tiap can thii la d i k k h i k vong kin.Vi tri va goc dao' dong dupe diau khian thong qua hai bp diau khiin rieng ^"^^"S ^°^^ dpng cac moi tnrdng co thiat bj cong suat Idnhop dong catbign thudng xuyen cang, Trong trudng cam goc bi hong,nhu he ben thdng khong tha hoat dpng , , , , , • ^'•""g ^ai bao nay, mang no ron truyen thang co ' '"P ^" ™ ^^V?* toan hpc lan truyen nguoc duac sii '^^"g *^^ '^^' "^^ ^"^ ^'^^ l^^'^" 8'^"^ ^^R ^^"S ^^o can true khong dung cam bien goc, Phan lai cua bai bao dupe trinh bay nhu sau: Mo hinh toan hpc ciia he thong dupe trinh bay ngan gpn d Muc 2; Muc tnnh bay phan thilt k l cac bp diiu khien dong dien • Dia chi h^n h?: Tel: 0935.342 223 Email: thuyen ngotghc mute edu.vn Tap chi Khoa hoc va Cong ngh$ 102 (2014) 017-021 vi tri va bp diiu khiin giam dao dpng ciing nhu kit qua mo phong tran Matiab; Muc trinh bay kit qua thuc nghiem tren mo hinh can true thuc; kat luan va hudng phat triln ciia d l tai dupe neu d Muc vtii R L, Kb, K„ lan lupt la di?n trd, dien cam, he so siic dien dpng va he so ph3n ung ciia dpng ca, K/ li he so tuyen tinh gan diing ciia ma sat va J la quan tinh tai (kg.m/s^) Mo ta toan hoc ciia he thong can true Mo hinh xe: Co the de dang chtjng minh r ^ quan he luc tac dpng len xe F(N) va tdc dp di chuyen ciia xe o) (rad/s) nhu mieu ta d phuang trinh (2): Mo hinh cSn true: Can true duac nghien ciiu bai bao co dang nhu Hinh 1, Mo hinh gom mpt xe dich chuyen tran mat phang ngang, dupe truyen dpng bdi mpt dpng ca M loai mpt chieu kich tir doc lap thong qua he thong banh rang va day dai, tai trpng co khoi luong m duac gan vdi xe thdng qua day cap co chiau dai / (2) dd Eff^^,^ la hieu su3t ciia pulli, /• ,, (m) la bSn kinh ciia pulli - Mo hinh tai: Chuyen ddng ciia tai dupe mo ta boi phuang trinh vi phan phi tuyen (3) va (4): {m + Myx + ml{ecose-e'^ xcose +16+ gsme Hinh Mo hinh can true f^n JLs" + {LK, -H RJ)s -I- EK^ + K^K^ (1) Bieu khien chong lac dung cam bi^n gdc Mo hinh dieu khien kinh dien dieu khien ch6ng lac cho hp thong c3n true thudng g6m hai bp di!u khien PID riang biet de dieu khien goc va vi tri nhu Hinh Mohinh VI tri (pt3) Mohinh can true (pt2) ^ ^ goc lai (pt4) _^ ^ Hinh Md hinh toan hpc ciia he thdng cSn true -?H (3) (4) Mo hinh toan hpc ciia h^ thong can true dupe tom tat nhu tren Hinh 2, Khi khong thuc hi^n diSu khien giam goc dao dpng, tai se dao dpng rat Idn viii goc dao dpng dinh gan 30° nhu Hinh - Mo hinh dpng cff: Quan he giiia toe goc ciia dong CO 0) (rad/s) va dien ap dat vao phan ung ciia dong CO V^ dupe mo ta nhu bilu thiic (1): V^ is) sind) = F =Q Hinh Goc dao dpng cua tai chi co diiu khiin vi tri HETUONG CAN TRUC TUeONG Hinh Sa dieu khien chong lac diing PID ^\J* VI Hinh Sa cd dieu khiin dong di?n Tap chi Khoa h9C v^ Cong ngh| 102 (2014) 017-021 ;:;t:t:;i:;;;E;:m \ w,i« mno ""jftjvX^I X' jM M 74 Ir't't::::!:::::!::::! - t ^^tej_ ; ; 1 i ; i i j i i \ ; ; ; : Hinh Ket qua mo phong dong dien dpng co i : I : \ |=:s:,r-.T"""| Vs \ " M i i Hinh Ket qua mo phong goc dao dpng Bang Thong so mo phong Thong so yfii \ \ \ V f\ | ri 1 ( ri ' Hinh So sanh ket qua md phong vi tri Bang Thong so cac bp dieu khien so Kp Ki KD Vitri 20 0.0005 B9 dieu khien G60 D6ng dien 0.875 25 0.005 Vdi kieu dieu khien nay, dong dien lam viec ciia dpng ca khfing duoc kiem soat Khi co qua tai ho|c khdi dpng, ddng lam viec tSng qua muc cho phep CO tha gay nguy hai den dpng co Do do, mot bp dieu khiin dong dien kieu PID duoc thiet ke nham ban cha dong dien ciia dpng co nhu tren Hinh 5, Cac thong so bp diiu khien PID vi tri, goc dao dpng va dong dien duac chpn theo thuc nghiem nhu Bang 1, Cac thong s6 mo phong he th6ng dupe cho Bang 2, Hinh cho thay bp dieu khien ddng dien cho phep han che dong dien pham vi cho phep nh5m bao ve qua tai hoac h?n che dong dien khdi dpng Dong thai, viec han che dong dian khdi dpng ciia d6ng ca ciing lam giam dang ke dinh vpt 16 dap ling goc dao dpng cua tai (Hinh 7) mac dti vi tri ciia tai cham xac lap ban I giay theo tieu chuan xac lap 5% (Hinh 8) Phutmg phdp diiu khien khong cam bien goc dao dgng Ky hi^u Dien tra dQng ca (Ohm) R Dien cam dong ca (H) L Hang so phan dien mitmg Ki, (V.sec/rad) Hang so momen (Nm/A) K„ Momen quan tinh ciia dQng co J« (kg.m^) He so ma sat nhat ciia dong co b „ Momen quan tinh cua tai Ji He so ma sat nhat ciia tai bl Hang so nhung nhay Ks He so ma sat nhat nhung nhay b Chieu dai cap (m) Gia toe truang (tn/s^) g Ban kinh puli cua xe day (m) ^Il!_^ Hieu suat ciia puli (%) En Gia trj 1.8 0.005 0.306 0.306 le-4 1.41e-4 le-3 1.41e-3 90 1.41e-2 0.5 81 0.015 98 Khi goc dao dong cua tai rat nho (), quan he giiia goc dao dpng ciia tai va vi tri tai dupe bieu dien nhu cong thiic (5) qua phep bien doi Laplace hai ve phuong trinh (4): B{s)- Is +g Xis) (5) Goc dao dong phat sinh chii yeu qua trinh di chuyen ciia tai, moi hoat dpng tang toe hay giam toe deu anh hudng tdi goc dao dpng Trong thuc te, tai dupe cho di chuyen nhanh da tang nang suit cua can true vi vay goc dao dpng ciia tai Idn nen quan he giCra vi tri va goc dao dpng ciia tai khong eon diing theo quan he (5), Dong thai boat dpng, tai ciia can true thay doi vi vay rat kho tinh toan duoc goc dao dpng ctia tai Cac ky thuat udc luong nhu mang na ron CO the dupe sii dung de udc goc dao dpng cila tai Mang na ron hoi quy dupe sii dimg de udc lupng gdc dao dong ciia tai dupe thuc hien [6], Trong bai bao nay, mang no ron lan truyen thang vdi thuat toan lan truyen ngupe dupe su dung Hinh mo ta so d6 Tap chi Khoa hoc va Cong ngh| 102 (2014) 017-021 truong hpp khong co cam bien goc dao dpng ciia tai so sanh dupe vdi tnidng hap dung cam bien khdi diing dl huan luyen mang Mang na ron lan truyin tbiing gim niit ngo vao (vi tri hien tai va vi tri trudc ciia tai), mpt Idp an va mot no ron d Idp Bang thuc nghiem, mang no ron vdi cac so na ron Idp in khac dupe huan luyen Ket qua thuc nghipm cho thSy s6 no ron Idp an la 30 cho kat qua chinh xac nhat, Ket quS thirc nghiem He thong thuc nghipm cac thuat toan dieu khiin giam dao dpng cila can true duoc the hien tren Hinh 14 Vi tri va gdc dao dpng ciia tai dupe bang hai encoder c6 dp phan giai 256 xung/vong Dong co k^ tai CO dong dinh miic 1.5A, 12V Thuat toan dieu khien can true duac thuc hien tren Card DSP TMS320F28335 Hp thdng duac kit n6i vdi may tinh thdng qua cong RS232 nham thu thap diJ lieu Giai thuat dieu khien duoc trien khai tren Matlab/Simulink, sau dugc bien dich va nap vao DSP TMS320F28335 Hinh 10 mo ta sa dieu khian giam dao dpng cho cin true dung m^ng na ron vira duoc huan luyen Kit qua mo phong sa dieu khien giam dao dpng ciia tai khong dimg cam bian goc dao dpng tran Matlab/Simuhnk dirpc trinh bay d cac Hinh 11, Hinh 12 va Hinh 13 Ket qua md phong cho thay cac dap ling ve vi tri va goc dao dong ciia dpng ca "' v i '"''' \\J H '^"^ I '^^'™^ \ • U' Hinh So huan luyen mang noron Hinh 10 So dieu khien khong cam bien goc i ; ã ã ' I - C^ôlôigDC Knm^oc^Biaicool -H D Hinh ll.Ket qua mo phong vi tri , i hB Hinh 12 Ket qua mo phong gdc lac tai trpng -i-l -":."::;! , ,.4 ,r >y °: I ""I i rvT"] XQT: i Hinh 13.Ket qua md phong dongdien dpng ca Hinh 14 Md hinh cSn true thuc nghiem 20 Tap chi Khoa hoc va Cong ngfa| 102 (2014) 017-021 x :f.x.Jt \ \ \ \ :_ / L^.i ; /; N kHff-A SiiiĐ L A/L f ãã : - .nrnigcMmOMdon, Hinh 15 Ket qua thuc nghiem vi tri ciia tai Hinh 16 Goc dao dpng cua tai thuc nghiem dpng ciia tai, vi tri tai va dong dien dpng ca tuong ddng va goc dao dpng cOa tai khong diing cam bien goc tuang tu nhu Truong hop diing cam bien goc Tai li^u t h a m khao [1] Singhose, W E., Porter, L, J , and Seenng, W., "Input shaped of a planar gantry crane with hoisting," in Proceedings of the American Control Conference, Albuquerque, NM, (1997) 97-100, [2] Manson, G A., "Time-optimal control of an overhead crane model", Optimal Control Applications and Methods 3, (1982)115-120, Hinh 17 Dongdien cua dongca Dap ling vi tri ciia diau khien giam dao dpng CO dijng cam bien goc vdi bp dieu khien dong dien va khong dimg cam bien gdc dupe thi hien tran Hinh 15 Ket qua th\tc nghiem dap ling gdc dao dpng cila tai va dong dien cua ddng co co va khong co cam duoc the hien tren Hinh 16 va Hinh 17 Phuang phap dieu khien khong cam bian ciing cho ket qua dieu khien giong vdi diiu khiln co cam [3] Omar, H M, 2003, "Control of gantry and tower cranes" Ph.D Thesis, M,S, Virginia Tech, USA [4] Omar, H, M, and Nayfeh, A H, 2001, "A simple adaptive feedback controller for tower cranes," in ASME 2001 Design Engineenng Technical Conference and Computers and Information in Engineering Conference, Pittsburgh PA, September 9-12, DETC2001/VIB-21606 K^t luan [5] Ahmad, M A and Nasir, A N K., "Hybrid Input Shaping and LQR control schemes of a Gantry Crane System," Proceedings of the 3rd International Conference on Mechatronics, ICOM'08, (2008) 365372 Bai bao trinh bay phuong phap dieu khien khong cam bien goc de giam dao dpng ciia tai cho he thdng can true Cam bian gdc duac thay the bdi cam bien mem dupe xay dung bang mang naron truyin [6] Yang, H., BCinouch, Y., and Sugio, N., , "Anti-swing fiizzy control of overhead cranes referring a velocity pattern" Control and Cybernetics 25(2), (1996) 209281 biln Phuong phdp dieu khien khong cam bien bang mang naron cho ket qua dieu khiln tuong tu nhu dilu khien cd cam bien th\rc Dieu co y nghia rat quan trpng viec loai bd hoan toan cam bien vat ly va thay the bang cam bien mem giiip lam giam gia bp thong va chi phi v|tn hanh ciing nhu tang dp tin cay ciia he thdng Md phdng v^ th(tc nghiem he thong dilu khiln sii dung DSP TMS320F28335 cho kit qua v l goc dao [7] Mahmud Iwan Solihin and Wahyudi, "Sensorless anhswing control of automatic gantry crane using Dynamic Recurrent Neural Network-based soft sensor" Int J Intelligent Systems Technologies and Applications, Vol 6, (2009)112-127 ... tinh toan duoc goc dao dpng ctia tai Cac ky thuat udc luong nhu mang na ron CO the dupe sii dung de udc goc dao dpng cila tai Mang na ron hoi quy dupe sii dimg de udc lupng gdc dao dong ciia tai... deu anh hudng tdi goc dao dpng Trong thuc te, tai dupe cho di chuyen nhanh da tang nang suit cua can true vi vay goc dao dpng ciia tai Idn nen quan he giCra vi tri va goc dao dpng ciia tai khong... trudc ciia tai), mpt Idp an va mot no ron d Idp Bang thuc nghiem, mang no ron vdi cac so na ron Idp in khac dupe huan luyen Ket qua thuc nghipm cho thSy s6 no ron Idp an la 30 cho kat qua chinh
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