ࡱ> 5@ \#bjbj22 >*XXm1 ###8##$2*$*$@$@$@$S%%4)&EGGGGGG$Rnk9E&O%S%E&E&k @$@$7,7,7,E&L @$@$E7,E&E7,7, .@$$ P#&LE0 )t (E&E&7,E&E&E&E&E&kk ,SVEU ILI`TE U ZAGREBU FAKULTET ELEKTROTEHNIKE I RA UNARSTVA DIPLOMSKI RAD br. 1435 PRIMJENA PRO`IRENOG KALMANOVOG FILTRA ZA U ENJE DINAMI KIH NEURONSKIH MRE}A Stjepan Novosel Zagreb, rujan 2004. SA}ETAK ''Primjena proairenog Kalmanovog filtra za u enje dinami kih neuronskih mre~a'' Ovaj rad po inje kratkim pregledom arhitektura neuronskih mre~a (stati kih i dinami kih) koje su koriatene za implementaciju algoritma u enja temeljenog na proairenom Kalmanovom filtru. Predstavljen je opi algoritam u enja neuronskih mre~a temeljen na Kalmanovom filtru (GEKF), popraen preporukama u podeaavanju parametara u enja, uklju ujui i povezanost izbora kojeficijenta u enja i inicijalizacije matrice kovarijanci pogreaaka. Za primjenu u realnom postrojenju, naftnoj rafineriji, konstruiran je softverski senzor viskoznosti izlaznih proizvoda baziran na neuronskoj mre~i. Za u enje neuronske mre~e koriaten je GEKF algoritam. Simulacijski rezultati te analiza predhodno spomenutih preporuka dani su u zavranim poglavljima ovog rada. Klju ne rije i Algoritam u enja temeljen na proairenom Kalmanovom filtru, neuronske mre~e, parametarsko u enje temeljeno na Kalmanovom filtru, algoritam povratnog prostiranja pogreake, softverski senzor, estimator ABSTRACT ''Trainin,xz|J L j l | ~ V X Z R(*wsoha]YU]h`qhj|&h( h@ah@a h*sh@ah@ahh`)BCJOJQJ^JhCJOJQJ^Jhv+CJOJQJ^Jh5RCJOJQJ^Jh 5CJ(OJQJ\^Jhk~5CJ(OJQJ\^Jh CJOJQJ^Jh(GCJOJQJ^Jh7h h 5CJOJQJ\^Jh CJOJQJ^J,xz|~L l n p r t v x z | ~ X Z *gd@a & Fgd$a$gdZA""Z#Z *,Jz|!!!""""""$a$gd~*gdI*gd4q*gdg & Fgd}}{*gdsQ*gd@a & Fgd#*gd(*gd`q & Fgd`q*`gd(*`gd@a*,468txz|~X~Z $!&!b!!Ǽ}p}pfbbh7hk^JmH sH hsQhsQ^JmH sH hsQ^JmH sH hq^JmH sH h7^JmH sH hqhq^JmH sH hsQh.hDohnhKLh@ah@amH sH h4qh@amH sH  h[b^JUhBh@a^J h@a^Jh# h*sh(h*sh`qh F&g reccurent neural networks with extended Kalman algorithm'' This work begins with a brief discussion of the types of neural network architectures (feedforwad and reccurent) that are used for training by EKF method. Then the global EKF training method is introduced, followed by recommendations for setting of parameters for GEKF method, including the relationship of choice of learning rate to the initialization of the error covariance matrix. For the purpose of the real plant - oil refinery, viscosity soft sensor is designed based on neural network. For the neural network training, GEKF training algorithm is used. Simulation results and analysis of recommendations mentioned above are given at the conclusion of this work. Key words EKF training algorithm, neural network, parameted-based Kalman filter training, backpropagation algorithm, soft sensor, estimator  PAGE 1 !!!!!!!""""""""""""""""# ## #0#8#H#X#Z#\#·|xtplhd`\XTh[uhZhghlAhC`h*h^"h0ph6hmh#Shj hurh&Bh&Bhj0JmHnHu h&B0Jjh&B0JUhe=$h.OJQJ^JhIhImH sH h4qh4qmH sH hg^JmH sH h;<^JmH sH h7mH sH h}}{mH sH hsQh7 h/Kh/K """""""##### # ########## #"#$#&#(#*#gdur*#,#.#0#2#4#6#8#:#<#>#@#B#D#F#H#J#L#N#P#R#T#V#X#Z#\#gd~< 00&P 1h:p~. 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