臺灣博碩士論文加值系統

本研究是針對雙旋轉翼多輸入多輸出系統(TRMS)，將針對定位控制的問題設計控制器，使得雙旋轉翼系統快速且穩定的到達指定位置之目標。高階非線性雙旋轉翼系統是一個不穩定且具有相互耦合之效應，對於外界干擾有強烈敏感之特性，雙旋轉翼系統常被用來試驗控制器之優劣。
然而，許多文獻為了簡化TRMS之控制器設計，系統中的耦合效應忽略不計，這將使簡化後之TRMS之整體行為模式無法滿足系統之要求。為了簡化TRMS定位控制，將此系統分解成主旋翼與尾旋翼二系統，並將耦合效應視做為系統非精確性參數。本論文將針對此TRMS提出一個新穎混合控制器，而所設計新穎混合控制器主要分為主旋轉翼與尾旋轉翼定位控制器。主旋轉翼定位控制器主要是俯仰角定位控制，而偏航角定位控制是用尾旋轉翼定位控制器來控制。
首先針對TRMS系統將設計出模糊順滑與模糊積分順滑雙定位控制器(FSFISC)來控制TRMS系統，模糊順滑與模糊積分順滑雙定位控制器(FSFISC)包含二個控制器，其分別為控制尾旋轉翼系統模糊順滑控制器(FSC)，與控制主旋轉翼系統模糊積分順滑控制器(FISC)。但是由於傳統的順滑模式有抖動的現象，將降低系統定位之性能。基於此因素，研究中，將再引入二階順滑模式概念設計模糊二階順滑與模糊積分二階順滑雙定位控制器(FSSSIC)，希望藉由此控制器來改善抖動的現象。最後，經由模擬結果所設計之新穎混合控制器在控制TRMS中有良好控制性能與對外界干擾有極佳的強健性。

In this paper, we investigate a control problem called the Twin Rotor Multi-input Multi-output system (TRMS). The designed TRMS is illustrated to position the TRMS in a less time period. The TRMS system is an unstable and high nonlinear coupling effect between two propellers. It is existence very sensitive to the disturbances, it is usually used to test the performance of controllers.
However, in order to simplify the designed of controller with TRMS, in the system coupling effect ignores. Therefore, after the TRMS simplify will not overhang the actions and characters of the system originally, and reduce the integral performance with TRMS. To simplify the position control, the TRMS is decomposed into a tail subsystem and a main subsystem. With the coupling effects considered as the uncertainties, the highly coupled nonlinear TRMS is decomposed. In this paper, a novel hybrid controller is presented for TRMS. This controller design can be combined with two is contains two kinds of controllers (main and tail propellers position). A main propeller and tail propellers controller is designed to position the pitch and yaw angle of TRMS.
First, a fuzzy sliding and fuzzy integral sliding controller (FSFISC) is designed to position the yaw and pitch angles of a TRMS. FSFISC consists of a fuzzy sliding controller (FSC) for the position control of the yaw angle and a fuzzy integral sliding controller (FISC) for the position control of the pitch angle. The standard (first order) sliding mode usage is, restricted due to the chattering effect caused by control switching. Based on this factor, this research gets the second order sling mode into the FSSSIC controller, and a fuzzy second order sliding and fuzzy second order integral sliding controller (FSSSIC) is designed to position of a TRMS. It also hopes the controller have eliminating effect chattering. Simulation results also indicate that the TRMS with the presented novel hybrid controller are the great performance and robust to the external disturbances.

誌 謝 Ⅰ
摘 要 Ⅱ
Abstract Ⅲ
目 錄 Ⅴ
表格索引 Ⅷ
圖片索引 Ⅸ
第一章 緒 論 1
1-1 啟發動機與研究目的……………………………………………….... 1
1-2 文獻回顧……………………………………………………………….. 3
1-3 研究步驟……………………………………………………………….. 5
1-4 論文貢獻……………………………………………………………….. 5
1-5 文章架構……………………………………………………………….. 6
1-6 重要名詞解釋………………………………………………..........7
第二章 系統動能分析 9
2-1 雙旋轉翼多輸入多輸出系統(TRMS)之描述……………………..... 9
2-2 系統之數學模型…………………………………………………….... 11
2-2-1 尾旋轉翼直流馬達輸入電壓-轉速與旋轉翼轉速-推力關係……………………………………………………………….... 11
2-2-2 水平軸在垂直面上的旋轉運動……………………………....... 12
2-2-3 垂直軸在水平面上的旋轉運動……………………………....... 15
2-2-4 系統之動態方程式………………………………………......... 17
2-3 研究問題之探討…………………………………………………….... 19
第三章 控制原理與架構 20
3-1 模糊控制理論……………………………………………………….... 20
3-1-1 模糊邏輯控制之架構………………………………………....... 21
3-2 順滑模式控制理論………………………………………………….... 29
3-2-1 順滑模式之原理……………………………………………....... 30
3-2-2 切換控制架構………………………………………………....... 32
3-2-3 積分式順滑模式控制………………………………………....... 32
3-3 高階順滑控制原理………………………………………………….... 33
3-3-1 高階順滑控制方法簡介……………………………………....... 35
第四章 模糊順滑與模糊積分順滑雙定位控制(FSFISC) 38
4-1 分解TRMS系統……………………………………………………..... 38
4-2 模糊順滑與模糊積分順滑定位控制(FSFISC) ………………….... 42
4-2-1 尾旋轉翼系統模糊順滑定位控制(FSC) …………………....... 42
4-2-2 主旋轉翼系統模糊積分順滑定位控制(FISC)….............. 47
4-3 FSC與FISC控制系統達到滑動模式之分析……………………...... 50
4-3-1 尾旋轉翼系統FSC之滑動模式分析…………………….. 50
4-3-2 主旋轉翼系統FISC之滑動模式分析……………………. 52
4-4 TRMS穩定於滑動模式下之分析…………………………………..... 55
4-4-1 尾旋轉翼系統FSC穩定於滑動模式之分析…………........... 55
4-4-2 主旋轉翼系統FISC穩定於滑動模式之分析……………. 57
4-5 控制系統之模擬…………………………………………………….... 59
4-5-1 參數設計……………………………………………………....... 59
4-5-2 模擬結果……………………………………………………....... 60
4-5-3 性能分析……………………………………………………....... 65
第五章 模糊二階順滑與模糊積分二階順滑雙定位控制(FSSSIC) 67
5-1 模糊二階順滑模式控制系統……………………………………….... 67
5-1-1 分解TRMS系統……………………………………………. 67
5-2 模糊二階順滑與模糊積分二階順滑定位控制(FSSSIC)………..... 69
5-2-1 尾旋轉翼系統模糊二階順滑定位控制(FSSC)…………........ 69
5-2-1 主旋轉翼系統模糊積分二階順滑定位控制(FSSIC)……....... 74
5-3 FSSC與FSSIC穩定度分析………………………………………...... 77
5-3-1 尾旋轉翼系統FSSC之滑動模式分析……………………. 77
5-3-2 主旋轉翼系統FSSIC之滑動模式分析…………............... 80
5-4 控制系統之模擬…………………………………………………….... 81
5-4-1 參數設計……………………………………………………....... 81
5-4-2 模擬結果……………………………………………………....... 83
5-4-3 性能分析……………………………………………………....... 85
第六章 結論與未來展望 87
6-1 控制器之性能評比………………………………………………….... 87
6-2 總結…………………………………………………………......... 88
6-3 未來展望…………………………………………………………….... 89
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