本論文主要是在探討以FPGA來實現模糊控制器IC的設計過程和驗證結果。本文提出兩種模糊控制器的架構，第一種是以Mamdani的MAX-MIN推論法為基礎的模糊控制器，第二種則是以簡化模糊單值推論法(Simplified fuzzy-singleton)為主的模糊控制器。藉由軟體的模擬先去比較兩種模糊控制器在倒車入庫和二階步級響應控制系統上的差異，接著提出了兩顆模糊控器的硬體架構，並將他們依照積體電路設計的方法設計成IC。本論文所提出的電路是以動態電路方式來產生模糊推論結果的，所以並不需要大量的唯讀記憶體(ROM)，而且即使增加解析度所耗費的硬體數仍為有限。最後再以SRAM型的FPGA來實現這兩顆模糊控制器IC，並比較他們的硬體數多寡、以及速度快慢等特性。更進一步我們建立以倒車入庫和二階步級響應系統之實驗架構來驗證這兩顆IC的可行性。

In this thesis, two types of fuzzy logic controllers (FLCs) and their hardware architectures are proposed. Type 1 is the Mamdani FLC and the Type 2 is the simplified fuzzy-singleton FLC. By computer simulations, we compare the performance of these two fuzzy controllers in two control systems, a 2nd order system and a garage-parking system. Then we design these two FLCs into IC and realize them with SRAM-based FPGA. The presented circuits can dynamically generate fuzzy inference results when they are activated, so there is no need to design a large scale of ROM to store the fuzzy rules. Even we increase the resolutions of input and output variables and the universes of discourses, the increments of the gate counts are very few. Finally, a garage parking control system and a 2nd order linear system are exploited to demonstrate the effectiveness of the developed chips.

第一章 緒論1
1.1 研究動機與目的…………………………………………….1
1.2 本文架構…………………………………………………….2
第二章 模糊邏輯理論與模糊邏輯控制器設計原理3
2.1 模糊邏輯理論……………………………….……………….3
2.1.1 模糊集合理論…………………………………………3
2.1.2 模糊集合運算…………………………………………4
2.2 模糊邏輯控制器設計原理…………………………………...6
2.2.1 模糊控制器的設計原理……………………………….7
2.2.2 傳統模糊控制器和簡化推論模糊控制器……………15
2.3 系統描述……………………………………………………..16
2.3.1二階步級響應系統…………………………………….16
2.3.2 倒車入庫系統…………………………………………22
2.4 節要…………………………………………………………23
第三章 數位積體電路設計與FPGA介紹31
3.1 數位積體電路設計…………………………………………..31
3.2 硬體描述語言………………………………………………..35
3.3 FPGA架構及簡介……………………………………………38
3.3.1 FPGA 介紹…………………………………………….38
3.3.2 FPGA的內部架構……………………………………..40
3.3.3 Altera FLEX 10K 介紹………………………………..44
3.4 FPGA的設計流程……………………………………………47
3.4.1 系統晶片設計的流程…………………………………47
3.4.2 FPGA的設計流程……………………………………..48
第四章 模糊控制器硬體架構電路設計51
4.1 系統架構和資料流程圖……………………………………..51
4.2 管線式(Pipline)電路設計原理………………………………57
4.3 第一類型模糊控制器IC之內部電路………………………58
4.3.1 前提適合度電路…………………………………….58
4.3.2 動態歸屬函數產生器………………………………..61
4.3.3 決策推論邏輯電路…………………………………..62
4.3.4 解模糊化電路………………………………………..64
4.4 第二類型模糊控制器IC之內部電路架構…………………69
4.5 其它相關電路………………………………………………..71
4.6 兩顆IC之比較和排程圖……………………………74
4.7 節要………………………………………………………….74
第五章 模擬與驗證78
5.1 模擬結果……………………………………………………..78
5.2 驗證結果……………………………………………………..78
5.3節要…………………………………………………………...79
第六章 結論及未來發展方向93
參考文獻95
附錄（英文稿）99

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