Xin trao i s b v thut ton iu khin t im cc (pole placement control) hoc iu

khin gn im cc (pole assignment control). Tuy hai tn gi khc nhau bng ting Anh,
nhng bn cht thut ton l mt.

Vy iu khin gn im cc l g? Ni nm na, thut ton iu khin gn im cc l thut

ton tnh ton khuch i iu khin hi tip trng thi (state feedback control gains) da
trn vic gn (t li) im cc ca h hi tip vi im cc mong mun.
Khi thut ton gn im cc c bin i sao cho cc cc thay i hoc tham s h thng
thay i s lm khuch i phn hi trng thi thay i. Trong trng hp ny chng ta c
thut ton gn im cc thch nghi.
Trong cc thut ton iu khin thch nghi (adaptive control) - thut ng ny thng dng
cho h tuyn tnh c tham s thay i theo thi gian - c mt s thut ton iu khin t
iu hng (self-tuning control) l kt hp mt thut ton c lng tm tham s h
thng vi mt lut iu khin. Trong cc thut ton t iu chnh c thut ton gn im
cc t iu chnh l mt thut ton thch nghi n gin. Thut ton self-tuning control
thng dng cho h ri rc theo thi gian (discrete-time system hoc digital system), cc
ti liu VN gi l "h xung s".
Trong ch ny s trnh by: 1. thut ton gn im cc p dng cho h tuyn tnh c cc
tham s khng thay i v 2. thut ton iu khin 'gn im cc t iu chnh' (self-tuning
pole assignment control) cho i tng tu thy. Thut ton gn im cc t iu chnh l
s kt hp ca thut ton c lng tham s (the recursive least squares algorithm) v
thut ton gn im cc.
V d sau minh ha h my li t ng cho tu thy dng thut ton gn im cc (pole
placement control). M hnh ton ca tu thy ging m hnh ton dng minh ha trong
thut ton iu khin ti u. Trong MATLAB Control System Toolbox c hai hm tnh khuch
i iu khin hi tip trng thi K: place (da trn phng php dng ma trn bin i) v
acker (phng php dng cng thc Ackermann). Bn c dng lnh > help xem m t
hai hm trn.
M hnh tu (Nomoto's first order model):

trong T, K l ch s iu ng tu (hng s, T = 7.5 sec, K = 0.11), r l tc quay tr

ca tu (yaw rate or turning rate, rad/sec), delta l gc bnh li (rudder angle, rad), v psi
l hng mi tu (heading angle, hoc yaw angle, rad). Vit li phng trnh ny di dng
m hnh khng gian trng thi nh sau:

trong :
l vc t trng thi:

u l tn hiu iu khin (gc bnh li):

y l tn hiu ra (hng mi tu):
A, B, C, D l cc ma trn tham s ca m hnh khng gian trng thi (bn c t tnh cc
ma trn ny gim).
im cc mong mun l: J(1) = -10+j*5 v J(2) = -10-j*5 (J = [-10+j*5 -10-j*5], hai s
phc lin hp - conjugate complex numbers) (vi im cc mong mun ny h hi tip d
phc tp bao nhiu i chng na th sau khi t li im cc h thng tr thnh h bc hai,
m h bc hai th c l nhiu ngi trong chng ta u bit!).
Trc khi thit k h iu khin gn im cc, mt cng vic n gin l phi kim tra xem
i tng iu khin (h ng) c m bo iu kin cn v gn c im cc hay
khng, tc l h ng phi l h 'c th iu khin trng thi hon ton' (completely state
controllable). Hay ni cch khc l phi kim tra tnh iu khin c (controllability) ca h
ng. H tu thy ny c vc t trng thi gm hai phn t (n = 2), chng ta tnh ma trn
tnh iu khin c (controllability matrix):
>> M = [B A*B]
M=
0 0.0147
0.0147 0
Rank (hng) ca ma trn ny l:
>> rank(M)
ans =
2
Hng ca M l 2, bng s phn t ca vc t trng thi, vy h ny l 'completely state
controllable'.
Codes mu cho h my li t ng tu thy nh sau:
Code:

% PoleAssignmentAutopilot.m
%
clear
T = 7.5;
K = 0.11;

A
B
J
C

=
=
=
=

[0 1;0 -1/T];
[0 K/T]';
[-10+j*5 -10-j*5]; % im cc mong mun (desired poles)
[1 0]; D = 0;

KK = acker(A,B,J)
%KK2 = place(A,B,J)
AA = A-B*KK;BB=B*KK(1);CC = C;DD=D;
Nomoto = ss(AA,BB,CC,DD);
[y,t,x] = step(Nomoto,10);
%subplot(211);
plot(t,y*180/pi);grid
title('Ship heading');
xlabel('Time (sec)');
ylabel('Heading (deg)');
% End of program
Kt qu chy chng trnh ny (p ng ca h thng) cho trong file gi km.
Trong ng dng thit k h iu khin, thut ton iu khin gn im cc t iu chnh ni
ring v iu khin thch nghi ni chung thng c p dng cho h tuyn tnh hoc phi
tuyn c cc tham s bin i (thay cho h tuyn tnh c cc h s khng i nh v d
trn). Thut ton iu khin thch nghi ny thng c kt hp vi mt phng php c
lng trc tuyn (online estimation algorithm, c dng c lng cc tham s h
thng). Phn sau s xin trnh by v d minh ha thut ton iu khin gn cc t iu
hng PID (three term (PID) self-tuning pole assignment control algorithm).
L thuyt v thc hnh thit k h thng iu khin thch nghi s c trnh by trn trang
web www.dieukhien.net trong thi gian ti, xin mi mi ngi n c!