T^P CHi KHOA HQC & CONG NCH$ CAC TRU6NG 0^1 HQC KY THUAT * SO 86 - 2012 SU DUNG OPTIiVIIZATION TOOLBOX CUA MATLAB DE CA! DAT VA DANH GIA BQ QUAN SAT MOVING HORIZON IMPLEMENTATION & EVALUATING OF MOVING HORIZON OBSERVER USING MATLAB OPTIMIZATION TOOLBOX Ngo Van Thuyen, Nguyen Thanh Dong, Nguyen Doan Phw&c Trieang Dai hoc Bach khoa Ha Noi Nh^n 30 thang nam 2011 TOM TAT Cac bd quan sat truyin thdng dtra tr&n vi$c d^nh glA true tiip sai so trang thai thi^ cua doi tuung va trang thai quan sat thwc/ng chi ap dicing dux?c cho c^c /jp tuyen tinh hoac nhung l&p mo hinh phi tuyin nhit djnh Trong bat bao nay, bg quan sdt Moving Horizon dirge gidi thieu cung vai thuat toan de co the cai dat tren matlab Day la bd quan sdt tu>a toi uv cd the ap dijng cho he phi tuyin bit ki Kit qua khao sat cho thay, bd quan s^t cho kit qui quan sdt tit ca mo hinh phi tuyen manh va cho chit luvng khdng hi thua kem, th$m chi tit hon - th&i gian quan sat ngin han, cdc bg quan sdt truyin thing ddi tuv'ng la tuyin tinh ABSTRACT Traditional observers are mostly state-estimation error-based obsen/ers, which are only applied to linear systems or to some particular classes of nonlinear systems In this paper Moving horizon obsen/er will be introduced in accompany with the algorithm implemented in Matlab This Is an optimization-based observer, which could be applied to any obsen/able system The results show that this obsen/er can provide desirable estimates even though the system is strongly nonlinear; and when the system is linear, the estimates are not less than, even better, in terms of observation time, than the results provided by traditional obsen/ers I DAT VAN DE Trong dieu khien, trang thai cua doi tugng thucmg khong true tiep dugc phan Ion cac truang hgp Do do, viec thuc hien bai toan di^u khien phan hdi trang thai yeu ciu viec udc lugng trang thai dua tren tin hieu Muasurud Ouipiil Hinh I Mo hinh bai todn dieu khien Da CO nhi6u giai phap dugc dua nhung hiiu h^t bpc 16 nhieu han che Bp quan sat truyen thdng Luenberguer chi ap dung dugc cho he tuyen tinh tham so hang Bp Ipc Kalman cd the sir dung cho he tuyen tinh bien thien, von dugc sii dung nhieu cong nghiep nhung vin CO nhieu khuyet diem doi tugng la phi tuyen hay trang thai bi han che Nhieu bp quan sat phi tuyen cung da dugc de xuat Nhung phan ldn chi ap dung dugc cho mot lop mo hinh nhat dinh Trong bai bao nay, bp quan sat Moving Horizon dugc gidi thieu vdi kha nang ap dung cho he phi tuyen bat ki vai irang thai CO the bi gidi han Day la bp quan sat tua toi uu vdi cOra so hiJu han nham giam bdt ganh nang tinh loan so voi bp quan sat toi uu truyen thong Viec cai dat bp quan sal tren co so thuat loan l6i uu ciia Matlab sS tao kha nang khao sat bai toan dieu khien phi tuyen Matlab Dong thdi, no cung hiia hen viec xay dung mdt Toolbox cho bp quan sat tuong lai IL BQ QUAN SAT MOVING HORIZON Bp quan sat Moving Horizon dugc xay dung tren co so cua bp quan sat toi uu binh phuong cue tieu [4] Bo quan sdt binh phirong cmi tieu TAP CHi KHOA HQC & C6NG NGHf CAC TRU'6NG D^l HQC KYTHU^T * S6 86-2012 Xet he thong dugc nio ta bdi h? phuong trinh gian doan: l i =,/(!* i.^^i) + li'i-i (1) l;'*=,t:(i.^)+>i Cling c6 th£ chi r3ng, ) la he tuyen linh khdng co dieu kien han cne, ket qua quan s^l thu dugc Hi (2) gidng nhu kk qua thu dugc sir d^mg bg Ipc Kalman [3] BO quan sdt Moving Horizon Trong do, x^ eX , ijj eU luong img Id vecla Irang thai va tin hi?u dieu khien; ^y,, ePV , ^ e I' la nhieu qui trinh va nhieu Bp quan sat danh gia trang th^^i ddi tugng dua iren cong ihiic sau [3]; Nhugc diem co ban ciia bg quan sal binh phirong c^^c tieu la so chieu cua phep linh toi \sv^ lang k tang De giam khdi lugng tinh toan, bp quan sat Moving Horizon sur dung mpl cua sd linh lo^n co dinh dam bao so chieu phep linh loi uu khdng tang theo thdi gian o ; = min!a)L,{v.vr),(^,LV>A'UW'! i.-[y,l„ \ \ ! I (2) -Zb-.^(AV'',))'«-'b-^U )) Vdi dieu kien: x^=f(x^ -.)+m-, Trong do, QO\Q ',R ' la cac ma Iran doi xung, xac dinh duong x^ la udc lugng ban dau ctia gia tri dau Q^^ danh gia mire tin tudng cua udc lugng dau, ^ cang dang tin thi 2o' cang ldn ^ ',/f"'dang gia dp tin tudng ciia mo hinh va tin hieu do, w^ va v^ cang nho thi Q"' va 7?"' tuong ling se Ion Cac ma Iran dugc xem la cac tham so va dugc hieu chinh theo kinh nghiem (tuning parameters) Nghiem ciia he tren la cap: lxn^ Tit do, cac gia tn quan sat |jt;,n} khoang dl dang dugc linh theo (1) Dieu thil vi la, w^ va t-^ la cac tin hieu nglu nhien, dpc lap, phan b6 chuan vdi ki vpng bang 0, hiep phuong sai tuong ling Id Q va fi ; ^ cijng la mpt gia tri nglu nhien dpc lap vdi phuong sai Q„, cong thuc udc lugng tren CO the suy bang each khao sat cue dai cua ham phan bd xac sual co dieu kien sau: Pi\ -^Jrn>-,y*) k-!'N k-N k-I Hinh Minh hqa viec linh gia tri irac lirang ddu \< = nin., {1>(5-^.|L';)",)•(i-^.l!;)eW»| ^1';=(5-^-i>^^)'e:U:!i-v-5,v)+Z>