Ứng dụng thuật toán giảm bậc cho bài toán điều khiển robot hai bánh

Nguyin Hmi Cong va Dtg T^p chi KHOA HOC & CONG NGHE 132(02): 95-101

iTNG DVNG THUAT TOAN GIAM B^C CHO

1 BAI TOAN DIEU KHIEN ROBOT HAI BANK

Nguyin Hii-u Cong'", Vu Ngoc Ki^n^ D6 Trung Hai^ Bui Manh Cu^ng^

Dai hgc Thdi Nguyen, Trudng Dgi hoc Kp thudl Cdng nghiep ~ DH Thai Nguyen

TOM TAT

Dilu khifin ckn bing robot hai b^nh hiSn nay dang dugc nhilu nha khoa hgc quan tam. Mgt kho

khan cho bai toan dilu khiln nay la d6i tugng dilu khiln la khau khong 6n djnh va luon bi nhilu

tSc dOng. Dl giai quylt hki toin nay, c^c tac gia thudng sii dung thuat to^n dilu khiln bin vGng

H„. Tuy nhien b6 dieu khiln ckn bang xe hai bknh theo thuat loan dilu khiln bin vung H„ thudng

CO bic cao nen d^phiic t?.p Idn khi lap trinh cho bo dilu khiln va anh hudng tdi chit lugng trong

qua trinh difiu khien thyrc. Bai bdo dg dl xuit mgt thuat toan mdi vl giam bac mo hinh n6i chung

vk ling dung cho viec gi^m bac hp dilu khiln trong dilu khiln can bing xe hai banh noi riSng.

ThuSt toan gi^m bSc mo hinh da dl xuit c6 thi ling dung trong cac ITnh vyc khdc nhu. viln thfing,

cong nghe thong tin va todn ling dung.

Til- khoa: Gidm bgc mo hinh, diiu khiin bin viing, xe hai bdnh.

DAT VAN DE

Trong nhu-ng nam gin day, nghien ciiu vg

robot hai banh tu cSn bang da dugc nhilu nha

khoa hgc tren the gidi quan tam. Trong do,

mgt van dl kho khan la nghign ciiu dilu khiln

can bang robot hai banh. Viec dilu khign can

bing cho robot hai banh co the dugc ling

dung dg dieu khien cho robot di bang hai

chan, nhu robot ASIMO vi nguygn tic dilu

khign can bang la nhu nhau. Co nhieu nghien

ciru vg dilu khiln c3n bang xe hai banh, vi du

nhu robot Murata Boy dugc phat trien tai

Nhat ban nam 2005 [7],

Mgt so phuong phap dugc sii dung dl dieu

khien can bang cho xe hai banh la: can bang

nhd sii dyng mgt banh da, nhu trong cac

nghign ciiu cua Beznos [1], Gallaspy nam

1999 [3], va Suprapto nam 2006 [9]; can bing

bang each di chuyen tam trgng luc ciia Lee va

Ham nam 2006 [4] va can bang nhd luc

hudng tam cua Tanaka va Murakami nam

2004 [10].

Trong so cac phuong phap do, can bang nhd

su dyng banh da co uu diem la dap ling

nhanh va co thi can bang ngay ca khi xe

khdng di chuyen.

Email conghn@tnu edu.v.

Co nhigu thuat toan digu khien xe hai banh da

dugc dl xuat nhu digu khien phi tuygn ciia

Beznol nam 1998 [1], Lee va Ham nam 2002

[4], thilt ke bii bing each sur dung phuang

phap tiep can quy dao g6c ciia Gallaspy nam

1999 [3] va dilu khien PD cua Surpato nam

2006 [9]. Tuy nhien, nhu'ng thuat toan dilu

khien do khong bin viing, robot khdng thg

mang tai vdi cac tai trgng bien doi, va khong

the lam viec trong moi trudng c6 nhigu loan.

Vi vay cac thuat toan dieu khign bgn viing

cho robot hai banh la rat can thigt.

Ly thuyet digu khiln bin viing H„ la mgt ly

thuyet digu khiln hien dai cho viec thilt kl

cac bg dieu khign t6i uu va ben vung cho cac

doi tugng dieu khien co thdng so thay ddi

hoac chju tac ddng ciia nhigu bgn ngoai. Tuy

nhign, trong phuong phap thilt ke H„ ma

McFarlane va Glover lan dau tign dua ra vao

nam 1992 [5] va kg ca cac nghien cuu sau nay

vl ly thuyet dilu khiln H^ [8] bo dilu khiln

thu duoc thudng co bac cao (bac cua bg dilu

khiln dugc xac djnh la bSc cua da thiic mlu).

Bac cua bd dieu khiln cao cd nhilu bit loi khi

chiing ta dem thyc hien digu khiln trgn xe, vi

ma chuang trinh phiic tap, thdi gian tinh toan

lau ngn dap ling cua he thong se bi cham.Vi

vay, viec giam bac bg dilu khien ma van dam

bao chit lugng co mgt y nghTa thuc tiln.

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