臺灣博碩士論文加值系統

本文之雙軸電液伺服疲勞試驗機，各別以數位訊號處理器控制獨立驅動之單軸子系統，並結合網路傳輸達到遠端監控之目的。利用滑動模糊控制器作為基礎，採用具有自我學習機制之自組織滑動模糊控制器及適應性調變解模糊化後比例因子之適應性自組織滑動模糊控制器，進行不同結構、不同頻率等之疲勞實驗，並比較三種控制器的控制特性。結果顯示，在低頻範圍，這三種控制器均能精確達到控制目的，在共振頻率及高頻時，適應性自組織滑動模糊控制器明顯比滑動模糊及自組織滑動模糊控制器有較高之控制強健性。

In this paper, a double-axial fatigue testing machine is setup by two sets of single-axial electrohydraulic subsystems controlled by digital signal processors individually. The fatigue tested equipment is a beam-type structure. Then, via the internet, the testing data could be real-time displayed in a remote monitor. This system is basically a nonlinear coupled TITO system. By treating this system as a decoupled system, each subsystem has significant structure interactions, parametric uncertainties and nonlinearities. To compare with other control algorithms, the fuzzy control is the best option for this unpredictable system. Then, in order to associate fuzzy rules with two-dimensional into one-dimensional, so this paper based on sliding mode fuzzy control, associated the self-organizing controller and adaptive self-organizing controller are third developed and implemented in this system. Then, these fatigue experi -ments of variety structures are performed at different frequencies. The magnitude error and phase lag ratio is defined to evaluate and compare their fatigue testing performances. Via plenty tests, the experimental results indicate that these three controllers can achieve the desired control objective precisely in the low frequencies. However, near to the structure resonance and in the high frequencies, magnitude error ratios of SMFC are significant, and magnitude error ratios of ASOSMFC is best than SMFC and SOSMFC.

中文摘要 І
Abstract II
誌謝 III
目錄 IV
圖表索引 VII
第一章 緒 論 1
1.1 研究動機與目的 1
1.2 文獻回顧 3
1.3 論文大綱 6
第二章 系統架構 8
2.1 實驗機台 8
2.2 液壓設備 9
2.3 控制設備 11
2.4 系統工作方式 12
第三章 DSP系統架構 14
3.1 DSP硬體架構與控制軟體規劃 14
3.1.1 DSP簡介 14
3.1.2 DSP數位控制卡 16
3.1.3 數位/類比轉換模組與硬體說明 21
3.1.4 軟體設計 22
3.2 RS-232通訊介面與C++ Builder串列通訊控制 23
第四章 控制理論 27
4.1 模糊控制 27
4.1.1 模糊控制系統架構 28
4.2 滑動模糊控制 33
4.2.1 滑動模糊控制系統架構 33
4.2.2 滑動模式理論 35
4.3 自組織滑動模糊控制 37
4.3.1 自組織滑動模糊控制系統架構 37
4.3.2 自組織學習機構 38
4.4 適應性自組織滑動模糊控制 42
4.4.1 參考模式適應性調變 43
4.4.2 參考模式適應性之穩定度分析 44
第五章 實驗結果與分析 45
5.1 系統整合 45
5.1.1 DSP控制軟體介面 45
5.1.2 C++ Builder串列通訊控制接收介面 46
5.1.3 網頁監視介面 47
5.2 實驗測試 48
5.2.1 資料傳輸之最高取樣頻率測試 48
5.2.2 負載結構及操作條件定義 49
5.3 實驗參數 51
5.4 實驗結果與分析 55
5.4.1 CASE1實驗結果與分析 55
5.4.2 CASE2實驗結果與分析 57
5.4.3 CASE3實驗結果與分析 59
5.4.4 CASE4實驗結果與分析 61
第六章 結論 63
參 考 文 獻 65
作 者 簡 介 68

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