NGHIN CU V NG DNG PHNG PHP IU KHIN TI U LQR CHO

H BALL AND BEAM

RESEARCHING AND APPLYING OPTIMAL LQR CONTROL METHOD FOR BALL
AND BEAM SYSTEM
ng Ngc Trung - Trn Th Thanh Hi
Khoa in - Trng i hc K thut Cng nghip Thi Nguyn
TM TT
H Ball and Beam cn gi l h cn bng ca qu bng trn thanh . H thng ny
c s dng nh mt bi th nghim hu ht cc trng i hc k thut trn th gii v n
kh gn gi vi cc h thng iu khin thc nh vic n nh cn bng my bay theo phng
ngang khi h cnh di tc ng nhiu ca cc lung kh. Trong bi bo ny nghin cu v
ng dng phng php iu khin ti u LQR nhm nng cao cht lng iu khin n nh
v tr cho h Ball and Beam.
T kha: iu khin ti u, iu khin LQR, iu khin v tr, H ball and beam, Ti u
dng ton phng.
ABSTRACT
The ball and beam system is also called balancing a ball on a beam. It can usually be found
in most university control labs because it is generally linked to real control problems such as
horizontally stabilizing an airplane during landing and in turbulent airflow. This paper researches
and applies optimal LQR control method to improve quality stable position for ball and beam
system.
Key word: Optimal control, LQR control, position control, ball and beam system,
Optimal quadratic form.
phn hi. Ngoi ra, ta cn xem xt n iu
kin c th tuyn tnh ha c h nu thanh
1. M u
H bng v thanh c bit n v s ch dao ng vi mt gc () tng i
dng t nhiu thp nin trc y. Cho n nh (-30 30).
nay vic iu khin h ny a ra nhiu Nu gc ln hn gi tr trn th kt qu thu
ng dng c bit trong hc tp v nghin c t phng php xp x tuyn tnh s
cu. Mc ch ca h thng l iu khin v khng cn chnh xc. Trong trng hp
tr ca qu bng trn thanh sao cho n bt buc ta phi dng n cc phng php
nh v tr mong mun di tc dng ca iu khin phi tuyn.
H B&B c rt nhiu c nhn v
nhiu bn ngoi. H thng Ball and Beam
(B&B) l mt h iu khin m tn hiu iu t chc trn th gii nghin cu v c
khin c th nhn c t tn hiu phn hi nhng thnh cng nh: Nm 2005 Arroyo
v tr ca qu bng qua cc b cm bin. Tn xy dng h thng c tn Qu bng cn
hiu phn hi c a ti b vi iu khin bng trn thanh . H thng s dng mt
qua xc nh v tr qu bng v cc thng cm bin in tr dy xc nh v tr ca
s lin quan a ra tn hiu iu
qu bng, tn hiu t cm bin c x l
khin, tn hiu iu khin ny c a ti qua card DSP xut tn hiu iu khin ng
ng c RC Servo s iu khin
c mt chiu thng qua hp gim tc, h
chnh xc gc quay ca ng c. T , qu thng ny s dng lut iu khin PID. Nm
bng s t n ng v tr mong
2006 Quanser to ra mu bng v thanh
mun. Mt iu tt nhin l h thng ban dm vi h iu khin PID. Nm 1999 vi
u ca chng ta l h h, phi tuyn v
tn h thng Bng trn thanh trt
khng n nh. gii quyt vn khng c xy dng bi Hirsch, h thng ny
n nh, ta cn s dng mt mch
s dng cm bin siu m o v tr qu
90

bng v dng trit p iu chnh gc quay

ca thanh vi lut iu khin PD
Trong bi bo ny gii thiu thm mt
phng php iu khin ti u LQR cho h
B&B nhm a ra phng php iu khin
n gin v m bo c n nh v tr tt
nht.
2. Phn tch v tuyn tnh ha h B&B
2.1. Phng trnh ton hc ca h Ball
and Beam.
Gi s h Ball and Beam c dng m
hnh nh trong hnh 1. Trong :
x: l khong cch t v tr ca qu bng
n im gia ca thanh.
: l gc hp bi thanh trt v trc
nm ngang.

g: gia tc trng trng

JB: m men qun tnh ca thanh
J: m men qun tnh ca qu bng
R: bn knh ca qu bng
 : vn tc gc quay ca thanh trt
x : vn tc qu bng
2.2. Tuyn tnh ha h Ball and Beam
T (1) t: X T = x x  = [ x1 x2 x3 x4 ]
Khi ta c h sau:
x1 = x2 = f1( X ,u )

2
x = m x1 x4 m g sin x3 = f ( X ,u )
2
2
J

+
m

R2

x3 = x4 = f3 ( X ,u )
(2)

x = u 2 m x1 x2 x4 m g x1 cos x3 = f ( X ,u )
4
4
J B + m x12

Nhn thy h phng trnh trn l h

phi tuyn vi:

X T = [ x1 x2 x3 x4 ]
F T = [ f1 f 2 f3 f 4 ]
Yu cu t ra lc ny ta cn phi tuyn
tnh ha gn ng h (2), t s cho php
ta ng dng c cc phng php iu
khin tuyn tnh hin nay, gip cho vic tng
hp b iu khin cho h Ball and Beam s
n gin v hiu qu hn.
Chn im lm vic xc lp l v tr
im gia ca thanh trt, khi :
x = 0: Bng nm gia thanh
x = 0: Bng ng yn
= 0: Thanh nm ngang
 = 0: khng c m men tc ng (hay tn
hiu iu khin u = 0).
H phi tuyn s c a v dng tuyn
X = AX + BU
tnh: X = f ( X ,u )
Trong :
f
f
f
f

Hnh 1. M hnh h Ball and Beam

Khi c lc tc ng t bn ngoi ln
thanh trt th qu bng b bt ra khi v tr
gia ca thanh trt (im cn bng) 1
khong cch x, thng qua cm bin a tn
hiu phn hi v b iu khin t tng
hp tn hiu iu khin u t ln ng c ni
cng trc vi thanh trt, lm ng c quay
ko thanh trt mt gc gip cho qu bng
chy v v tr cn bng.
Theo [1] th phng trnh ton hc ca h
Ball and Beam c dng:
 u 2 m x x  m g x cos
=
J B + m x2

m x  2 m g sin
(1)
x=

J

+m

R2

Trong :
m: khi lng ca qu bng
91

x
1
f2
x
1
A =
f3

x1
f4

x1

x2

x3

f2
x2

f2
x3

f3
x2

f3
x3

f4
x2

f4
x3

x4

f2
x4

f3

x4
f4

x4

f2 f3 f4
f
BT = 1
u u u
u
vi : X = 0; u = 0

4. ng dng lut iu khin ti u LQR

cho h Ball and Beam
4.1. Cc thng s ca h Ball and Beam

3. iu khin ti u h tuyn tnh vi ch

tiu cht lng dng ton phng - iu
khin ti u LQR
Xt h thng c tc ng ngoi ( u 0 ):
x = Ax + Bu
(3)
Chng ta cn tm ma trn K ca vector
iu khin ti u :
u (t ) = Kx(t )
(4)
tha mn ch tiu cht lng J t gi tr cc
tiu :

J = x T Qx + u T Ru dt

Khi lng qu bng: m=0.1 kg

M men qun tnh ca bng: J=10-5 (N/m)
Bn knh ca qu bng: R=0.015 m
M men qun tnh thanh: JB =0.05(N/m)
Gia tc trng trng: g = 9.81
Xt ti im lm vic xc lp (X=0 v
u=0) da vo phn mm Matlab tnh ton
khi cc ma trn A v B c gi tr sau:
0
1
0

0
0 6 .7 9 1 5
A =

0
0
0

0
1 9 .6 2 0

(5)

Trong Q l ma trn xc nh dng

(hoc bn xc nh dng), R l ma trn xc
nh dng.
Ma trn K ti u c xc nh t
phng trnh Riccati c dng:
K = R -1 BT P

x = Ax + Bu

0
0
1

B = [0 ; 0 ; 0 ; 2 0 ]

Gi s la chn ma trn Q v R trong

hm mc tiu J nh sau:

1 0 0 0
0 1 0 0
; R = 10
D=
0 0 1 0

0 0 0 1
Khi ta tnh c ma trn K thng qua
phn mm Matlab:
K = lqr(A, B, Q, R) =
= [-2.0117 -0.9223 2.4733 0.5893]

x
K
Hnh 2. Cu trc iu khin phn
hi trng thi
Nh vy, lut iu khin ti u cho bi
ton iu khin ti u dng ton phng vi
ch tiu cht lng l phng trnh tuyn
tnh v c dng:

4.2. Kt qu m phng iu khin ti u

LQR cho h Ball and Beam.

u (t ) = K (t ) = R 1 B T P x (t )
Ma trn P khi phi tha mn phng
trnh:
PA + AT P + Q - PBR -1 BT P = P (6)
Phng trnh (6) c gi l phng
trnh Riccati.
Khi S khng thay i theo thi gian

P = 0 , ta c phng trnh i s Riccati
(ARE : Algebraic Riccati Equation ) :
PA + AT P + Q - PBR -1 BT P = 0 (7)

(2.133)
Hnh 3. ng dng iu khin
LQR cho h Ball and Beam

92

+ Trng hp 2:

x = 2 5( cm ); x = 0 . 0 3( cm / s );
= 2 0 o ;  = 0 . 0 2 ( ra d / s )

4.3. Nhn xt:

Qua kt qu m phng cho thy b iu
khin ti u LQR cho thy tnh n nh ca
b iu khin gip cho v tr bng di tc
ng ca lc bn ngoi ln thanh trt lun
c xu hng tr v v tr cn bng (x = 0).
Tuy nhin nu lc tc ng ln s lm bng
bt khi v tr cn bng v khng th quay
tr li. V vy di dch chuyn ca bng trn
thanh trt cng l yu t cn quan tm
trong qu trnh iu khin.

Hnh 4. H Ball and Beam

Kt qu m phng:
+ Trng hp 1:
x = 2 0 ( cm ); x = 0 . 0 1( cm / s );
= 1 0 o ;  = 0 . 0 1( ra d / s )

Ti liu tham kho

Hunh Thi Hong: "H thng iu khin thng minh", Nh xut bn i hc Quc gia
TP H Ch Minh, 2006.
[2] N.D.Phc, P.X.Minh, H.T.Trung: L thuyt iu khin phi tuyn. NXB KH v KT,
H ni, 2003.
[1]

Ng.Ph.Quang: Matlab & Simulink dnh cho k s iu khin t ng. NXB KH v KT, H
ni, 2004
[4] Nguyn Phng H: L thuyt iu khin hin i Nh xut bn i hc QG TP H Ch Minh,
2008.
[3]

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