ISSN: 2354-0575 U X G DVNG P H i r O N G PHAP D i E U K H I E N DU" BAO S C D U N G H A M T R U C G I A O L A G U E R R E DIEU K H i t N T H A P CHlTNG LUYEN H A I CAU TlT C O RANG BUOC TIN H I ? U DIEU KHIEN \ / L£ Ngpc Triic TrucmgDgi hgc Su pham Ky thugt Hung Yen Tom tat: Diiu khiin du bdo la sach luge dieu khien da bien dugc su dungpho bien nhat diiu khiin cde qud trinh cong ngh$ Tuy nhiin, tru&ng hgp tan sd trich mdu Ian, mpt he thong ddng hgc phirc tgp hoac yeu cdu chat lugng dieu khiin cao thi vi^e tinh todn diiu khiin du bdo cd rdng huge tin hiiu diiu khiin ddi hoi mpt so lugng rat Ian cdc phep tinh vd Idm tdng then gian xu ly Diiu ndy lam hgn ehi khd nang img dung vao thue ti can phai cd cdu hinh phdn cimg manh vd bp vi xir ly tdc dp rat cao Bdi bdo dua nghien euu su dung cdc hdm true giao Laguerre thiit ki dieu khien du bdo di gidi quyet van de tren, vd img dung phuong phdp ndy vdo diiu khiin md hinh thdp chung luyen hai cdu tutieu bieu Tir khoa: Dieu khien du bdo, Diiu khien du bdo cd rdng bupc, Diiu khiin thdp chung luyen Dat van de Phuong phap luan cua dieu khien dij bao dua trgn mo hinh: Digu khign dy bao dya tren mo hinh (Model Predictive Control, MPC) la thuc hien !ya chpn mpt vai tin hieu dieu khien nhat dinh de thu dugc mgt dau dy bao tot nhat dua trgn mpt khoang dy bao gioi han De dua lya chpn nay, ta sir dung mgt mo hinh toan hpc de mo ta gan diing hanh vi ctia doi tugng, va sir dung mo hinh dg du bao cac dau va eac dau vao tuang lai eiia doi tuang, qua se quyet djnh tin hieu digu khign toi iru Lap du bao CO dugc dya trgn mo hinh ciia doi tugng va dugc tinh toan tren co sa thuc hien toi uu mgt ham mue tieu y , * ô, Nc ^ lin l\iĐu dai : L qud khu du han " *—' -n \ ihm gian ' { ihoi gian ^ Hinh Mo td dieu khien du bdo dua trin mo hinh Dua vao so Hinh 1, ta co' Day gia tri tin hieu dieu khien u, khoang thai gian du bao [k^, k+N^, dugc tinh toan dya trgn toi im mot ham mue tieu J dg giii cho gia tri d5u cua qua trinh y khoang thoi gian [k^ k-^Np] bam cang gdn gia tri dat cang t6t T i m dy bao tin hieu la A'^, tim du bao tin hieu digu khign la A'^ Khoa hoc & Cong nghe - So 4/2014 Thai diem bat dau mgt tam dy bao la k^ Tam dy bao duoc dich chuygn theo chu ky eho truac T Va thai diem bat dau eho tam dy bao ke tiep {kk+X Trong qua trinh tinh toan day tin hieu dieu khien toi uu tuong lai, ta can co thong tin hien hanh cua doi tuong x(k), bang each true tiep hoac tinh toan Trong so cae gia trj tin hieu digu khien du bao dugc tai thai diem /:, ta sir dung gia tri tin hieu dieu khien dau tien ciia day gia tn tin hieu du bao dg dua dgn tac dgng vao doi tugng thai digm k+\, cae tin hieu dieu khien du bao lai dugc bo qua Voi dieu khien du bao thong thuong phai tinh du ca A' tin higu dieu khign u tinh toan toi uu nen so lugng phep tinh Ion, nhat la vai hg thong phiic tap c6 nhieu dau vao - nhieu dau Khi su dung ham Laguerre ta co the tinh toan toi uu vai nhat tin hieu digu khign u tai thoi digm k , nen so lugng phep tinh giam dang ke Day chinh la iru diem quan trgng ting diing ham Laguerre vao digu khien dii bao Cac ham Laguerre tren mien thin gian gian doan Cac ham Laguerre /(A) trgn mign thai gian gian doan co anh cua no qua phep bien doi Z nhu sau r.(z)=] \-az ^ \\-az '/ (2.1) Trong do: a la he so digu chinh cua cae ham Laguerre ( < a < 1) A^la so lugng cac ham Laguerre i— \,N Tap hgp cae ham Laguerre /(A) trgn mign thoi gian gian doan bieu dign bang vector: L[k)={h{k) hik) - /A-(A)f (2.2) Journal of Science and Technology 49 ISSN: 2354-0575 I { ) = # [ -a cf - o ' ••• ( - I j ' - ' o ' - ' f , Xap xi so gia tin hieu diiu khien sir dung cac ham Laguerre Vector s6 gia tin hieu dieu idiien tuong lai AC/ CO chieu N^ vector dieu kien gioi ban eua cac tin hieu vao, cac dieu kien tai thai digm k se nam ma tran sau: [2] LiikV Ol" • 0^ " Of L2{kV OS AM™" < 7) < AM™ AU = [A»(fc) A , ( t , - H ) , Aalfc + W c - D F (3.1) Theo phuong phap dieu khien dy bao, tai moi thai diem k ta chi can tim dugc !s.u{k^ ma khong can tim day dii vector AJ7 Xet mpt ham xung gian doan 5(/r) dugc dinh nghla nhu sau' b{k) = \ ngu>t = Ova (5(-t} = nguft/O Nhu vay, ta co the viet: Aw(yt, + it)=[5(A) i U - l ) ( f t - A ' c + l ) ] At; Theo cong thuc (3.2) tren ta co thg thay rang Aw(fc + A) vai A^O, 1, 2, , (A^^,- 1) hoan toan co thg dugc xap xi boi mgt ham da thiic gian doan Tap hgp cac ham Laguerre, l^ik), l^k), , IJJ