臺灣博碩士論文加值系統

本論文研究主要針對無線充電系統的建置及其應用進行研究，並採用 2 型模糊自適應控制演算法實現對受充電負載設備之最佳軌跡追蹤與最大功率充電系統。
此無線充電系統由 gantry 機器人平台和能量管理系統實現，並使用適應控制算法實現最大充電功率控制。
2 型模糊動態模型根據電流標準用來近似充電動態系統且不需包含扇型死區導數，其中模糊模型的參數均來自模糊推理和在線更新定律。
系統的前向/反向運動學採用 Visual Studio 中的 C# 編寫，並藉此計算來獲得追蹤軌跡所需的關節角度值。
透過線圈充電電流的反饋值來檢測移動設備的位置以便計算出最佳充電之感應線圈和可充電設備之間的最短距離和最大功率傳輸。
本論文所提出的控制法則的優點在於，它可以更好地處理語言詞中固有的模糊性或不確定性，且使用具有線性分析結果的自適應能力的模糊集歸屬函數，而不是在系統參數未知的情況下估計非線性系統函數。
最後，本論文提供了電腦模擬和實驗結果以驗證無線最佳充電系統的有效性及正確性。

This thesis mainly studies the realization of the wireless optimal charging gantry robot system using type-2 fuzzy adaptive control for mobile rechargeable devices.
The smart wireless charging system is implemented by gantry robot system and the energy management systems using the adaptive control algorithm to achieve the maximum charging power control.
The type-2 fuzzy dynamic model is used to approximate the charging system in accordance with current standards without constructing sector dead-zone inverse, where the parameters of the fuzzy model are obtained both from the fuzzy inference and online update laws.
The tarcking trajectory to devices including forward/inverse kinematics written by C# in Visual Studio is used for obtaining the joint angles of the xyz table corresponding to the desired trajectory.
By feedback the charging current from the coil to detect position of the mobile devices, the optimal charging device tracking algorithm is given for obtaining the shortest distance and maximum power transmission between the induction coil and the rechargable device.
The control scheme is derived to stabilize the closed-loop system such that all states of the system are guaranteed to be bounded and tracking performance is achieved due to uncertainties, dead-zone nonlinearities, and external disturbances.
The advantage of the proposed control scheme is that it can better handle the vagueness or uncertainties inherent in linguistic words using fuzzy set membership functions with adaptation capability by linear analytical results instead of estimating non-linear system functions as the system parameters are unknown.
Finally, both simulation and experimental results are provided to verify the validity of the wireless optimal charging system.

ABSTRACT(IN ENGLISH)
ABSTRACT(IN CHINESE)
1 Introduction 1
1.1 Motivation 1
1.2 Background information and literature review 2
2 System Analysis 6
3 Fuzzy theory Analysis 13
3.1 Interval type-2 fuzzy system 15
3.2 Fuzzy control 20
3.3 Fuzzy rule base 23
4 Experimental results 28
5 Conclusions 35
REFERENCES 37
Appendix A Program code 40
A.1 Arduino code 40
A.2 C# code 46
Appendix B Data 62

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