臺灣博碩士論文加值系統

在本篇論文中，我們以PID型控制器為基礎，發展出一種為改善控制響應的混合模糊邏輯比率項加上積分及微分項之控制器。
這種控制器的架構包括以增量模糊邏輯控制器取代一般PID控制器的比率項，本篇論文研究的基本原理是為減少模糊控制器的參數個數的調節，與一般PID型控制器比較，僅增加一個必須被調整的參數，而且，由於操縱的受控廠動態方程式常具有耦合特性，且具有高非線性與不確定性，使用一般PID控制器很難達到想要的追蹤控制功能。
為了改善在不確定性下的追蹤控制功能，我們將提出對非線性受控廠的一個新的混合控制方式；它包括一個模糊邏輯的比例控制器及一個傳統的積分與微分控制器(FUZZY P+ID)。在本篇論文的最後，我們將用電腦模擬來驗證我們所提出的理論。

In this thesis, we used PID-type controller as the foundation, to develop a hybrid fuzzy logic proportional term plus conventional integral and derivative terms (FUZZY P+ID) controller for improving the control response. This kind of controller is constructed by using an incremental fuzzy logic controller in place of the proportional term in the conventional PID controller. This thesis basic principle of this study is to reduce the parameters of a fuzzy controller to be tuned so that, in comparison with the PID-type controller, only one additional parameter should be adjusted. Using conventional PID controller, however, it is difficult to achieve a desired tracking control performance since the dynamic equations of a plant for the manipulator are tightly coupled, highly nonlinear and uncertain. In order to improve the tracking control performance under uncertainty, we propose a new hybrid control scheme for the nonlinear plants, which consists of a fuzzy logic proportional controller and a conventional integral and derivative controller (FUZZY P+ID). Finally, detailed numerical design processes and simulation results are performed to illustrate the effectiveness of the proposed scheme.

ABSTRACT(IN ENGLISH) I
ABSTRACT(IN CHINESE) II
1 INTRODUCTION 1
2 FUZZY P+ID CONTROLLER PRINCIPLE 6
3 OUTPUT OF INCREMENTAL FUZZY LOGIC 9
4 APPROACH TO DESIGN OF THE CONTROLLER 42
5 SIMULATION CARRIED OUT IN MATLAB PACKAGES 52
5.1 Duffing forced oscillation to follow a sin-wave trajectory . 53
5.2 The inverted pendulum to track a sin-wave trajectory . . . .. 58
6 CONCLUSIONS 65

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