臺灣博碩士論文加值系統

本篇論文主旨是以模糊控制方法，開發「吊車」二自由度機構系統之抗擺控制的模糊控制器。模糊控制器之應用，主要缺點在難以設計模糊規則，本文採用隨機最佳化演算法去收尋模糊控制器的參數。
首先，在本文中以兩種方法：牛頓第二運動定律和拉日朗格法推導出吊車系統的動態方程式，並將所推導的數學模型以電腦模擬，探討該模型的正確性。
再者，本篇論文強調在以硬體實現其控制理論。為了獲得系統回授參數，本研究中設計了一個機構，以編碼器回授擺角訊號。
此外，考慮即時性的問題，是用模糊控制理論和隨機最佳化之演算法，以組合語言寫入德州儀器公司(Texas Instruments Inc.)出的數位訊號處理器(TMS320C542 DSP)而執行。
DSP與受控體的介面設計以AHDL和VHDL硬體電路程式寫入美商ALTERA半導體公司(Altera Corporation) 出的CPLD，ACEX1K100RQP208-3來做IO控制。實作結果顯示以DSP-CPLD架構能充分實現進階的控制理論。

This thesis investigates the problem of fuzzy controller design in the anti-swing manipulation of a 2 degree-of-freedom overhead crane system. The major shortcoming in the application of fuzzy controller is due to the difficulty of fuzzy rule design. In the thesis, the random optimization algorithm is adopted to search for parameters used in the fuzzy logic controller.
Firstly, dynamic equations of a home-made overhead crane system are derived both with Newton’s second law and Lagrange’s method. The correctness is then judged by computer simulations. These results also compare the effectiveness of some control strategies, including the PID and fuzzy control architecture.
The second emphasis of this thesis is on the implementation issues. For the requirements of sufficient feedback information, we designed a mechanism equipped with an encoder to acquire swing angle.
Furthermore, due to real-time considerations, the fuzzy control law and random optimization algorithms are written in assembly language and are executed in a TMS320C54xx DSP manufactured by Texas Instruments Incorporated.
The interface between the DSP and the plant is written in both AHDL and VHDL with ACEX1K100RQP208-3, a CPLD supplied by Altera Corporation. Experimental results show that the DSP-CPLD architecture is qualified as a basis for advanced control algorithms.

目 錄
指導教授推薦書
口試委員會審定書
授權書
誌謝
中文摘要
英文摘要
目錄
圖表目錄
第一章 緒論
1.1 研究動機
1.2 文獻回顧
1.3 本研究主要貢獻
1.4 論文大綱
第二章 吊車系統數學模型與電腦模擬
2.1 吊車系統之數學模型
2.2 模擬吊車系統響應
第三章 模糊控制器的理論及設計
3.1 模糊理論
3.2 模糊控制設計
3.3 隨機最佳化RO
第四章 實驗設備整合
4.1 受控系統─吊車機構
4.1.1 軌道平台
4.1.2 滑車及擺錘
4.1.3 馬達及馬達驅動器
4.1.4 編碼計數器
4.2 控制器─DSP數位信號處理器
4.2.1 DSP晶片的特性
4.2.2 DSP的I/O控制界面CPLD電路
4.2.3 CPLD電路之硬體程式語言
4.3 控制器與受控系統整合
4.3.1 X軸位置之讀取
4.3.2 θ軸位置之讀取
4.3.3 控制器輸出到吊車之推力
4.3.2 光耦合隔離電路
第五章 DSP內部程式設計
5.1 TMS320C542軟體指令功能及硬體結構
5.2 TMS320C542定址模式及基本指令格式分析
5.3 DSP的數學運算產生亂數及雜訊產生器
第六章 電腦模擬與實測結果
6.1 模擬控制吊車系統
6.2 實測控制吊車系統
第七章 結論及未來展望
參考文獻

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