臺灣博碩士論文加值系統

本論文之重點在於建立實際的船用衛星天線自動搜索控制系統模型，並設計出以模糊理論(Fuzzy Control)與模糊滑動模式理論(Fuzzy Sliding Mode Control)為平台的船用天線控制器(Antenna Control Unit)。衛星天線自動搜索控制系統模型是以兩顆伺服馬達分別控制天線的方位角與仰角，並使用角度感知器來量測天線實際指向的位置。控制法則分別以模糊控制理論與模糊滑動模式理論來控制。在模糊控制理論方面，先定義輸入變數為誤差角度(Error angle)及誤差角度變化量(Change of Error angle)，輸出變數為受控系統控制量的變化，再定義兩個輸入變數及輸出變數的歸屬函數(Membership function)，透過設計控制規則與使用Mamdani方法計算各個推論規則命題部的適合度，再用重心法(Center of Gravity)把推論完成的模糊輸出量轉換成實際的明確值(Crisp value)，達到控制系統之目的。在完成模糊控制器後，本論文亦將模糊理論與非線性系統中常用的滑動模式(Sliding mode)理論結合在一起；利用模糊控制將系統的狀態先推至滑動平面(Sliding Surface)附近，系統的狀態便會沿著滑動平面滑入座標原點，此時系統趨向穩定且趨近零誤差，此種做法可某種程度控制系統暫態，以提高控制器性能。模擬結果顯示，控制器在不同的海浪作用下仍能追蹤衛星天線指向角度。

This study is intended to build a scale model of a ship-carried satellite antenna and to design fuzzy control and fuzzy sliding mode control schemes to track the aiming angle of the antenna. The scale model of the antenna is designed with two angular degrees of freedom, azimuth and elevation. To accomplish the closed-loop control, two encorders are installed to rotational axes of azimuth and elevation to provide instant feedback signals for the current aiming angle of the antenna. With the scale model designed and fabricated ready, control schemes are next forged. For Fuzzy control design, membership functions are first determined, and followed by if-then rules and defuzzification. For fuzzy sliding mode control design, sliding surface is first determined, and then the standard procedure of fussy control design is followed to synthesize the controller. The responses of the system are expected to first converge to the sliding surface and then to desired states. Numerical simulations are conducted for validating effectiveness of fuzzy controllers designed with various memberships and sliding surfaces. It shows that the designed controllers are able to perform effective tracking for the ship-carried antenna.

摘 要i
Abstractii
誌 謝iii
目 錄iv
圖目錄vi
表目錄viii
第一章 緒論1
1-1 研究動機1
1-2 研究目的1
1-3文獻回顧2
1-4 本文架構3
第二章 天線系統硬體架構建立5
2-1伺服馬達6
2-2角度感知器6
2-3差速裝置10
2-4 基座12
2-5 系統動態方程式13
第三章海浪軌跡的假設與天線目標角度15
第四章 模糊控制器的設計19
4-1 模糊理論19
4-2 模糊控制基本架構19
4-3 模糊控制器的設計20
4-4 模擬結果與討論27
第五章 模糊滑動模式控制器的設計37
5-1 模糊滑動模式理論37
5-2 模糊滑動模式控制基本架構38
5-3 模糊滑動模式控制器的設計39
5-4 模擬結果與討論44
第六章 結論與未來研究方向49
6-1 結論49
6-2 未來研究方向50
參考文獻51
自 述53

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