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研究生:李文同
論文名稱:TSK模糊控制器之多階化設計
論文名稱(外文):TSK model design for multistage fuzzy controllers
指導教授:葉榮木葉榮木引用關係
學位類別:碩士
校院名稱:國立臺灣師範大學
系所名稱:工業教育研究所
學門:教育學門
學類:專業科目教育學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:中文
論文頁數:112
中文關鍵詞:多階模糊控制器遺傳演算法則倒單擺系統球軸系統
外文關鍵詞:Multistage Fuzzy Logic ControllerGenetic AlgorithmInverted pendulum SystemBall and Beam SystemTSK Model
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摘要
隨著科技日益發達,受控系統的規模與複雜度亦逐漸地增大,因此,針對大規模且複雜的非線性系統,設計出性能良好的控制器將趨於困難與耗時。故本研究將提出一個TSK Model (Takagi-Sugeno-Kang Model)之多階模糊控制器(Multistage Fuzzy Logic Controller , MSFLC)的設計方法,目的在於減少控制器的模糊規則數,使規則的數目僅依據輸出/輸入變數和歸屬函數(Membership Function)的個數而增加,並以二次式比例增加,藉以降低控制器的設計複雜度與設計時間。
本研究將產生TSK Model之多階模糊控制器的模糊規則庫(Rule Base)並透過實數編碼之遺傳演算法則,搜尋最佳的輸出/輸入變數歸屬函數和調整因子(Scaling Factor)。如此一來,在控制高階系統上,不但可以使控制器的設計具有系統性,免於以費時的嘗試錯誤法(Trial and Error)設計控制器、提高控制器的設計效率。最後,將藉由倒單擺系統(Inverted pendulum system)與球軸系統(Ball and Beam System)兩個受控系統來模擬驗證此控制器的性能。
Abstract
This paper proposes a TSK (Takagi-Sugeno-Kang) Model approach to design a multistage fuzzy logic controller for large-scale and complex control system. The main purpose of this paper is to decrease the large number of rules by using multistage fuzzy logic controller , and adopt the real coding genetic algorithm method to design the parameter on multistage fuzzy controller. This can get rid of trial and error approach on controller design.
There are three kinds of parameters on multistage fuzzy logic controller. It includes the rule base, input/output variables of membership function and scaling factors. They are all designed by real coding Genetic Algorithm.
The proposed approach provides a systematic way to design multistage fuzzy logic controller, and these parameters design can be combined with two kinds of framework (Skew tree and Binary tree). Therefore, there are two kinds of multistage fuzzy logic controllers, and we compared their performance in pendulum-cart system and Ball and Beam system.
目錄
摘要 I
ABSTRACT II
目錄 III
圖目錄 VII
表目錄 X
第一章 緒論 1
1-1 研究背景與動機 1
1-2 研究問題 4
1-3 研究目的 5
1-4 研究目標 5
1-5 研究步驟 6
1-6 系統架構 8
1-7 重要名詞解譯 9
1-8 論文架構 11
第二章 文獻探討 12
2-1 模糊理論 12
2-1-1 模糊理論的沿革 12
2-1-2 模糊集合與歸屬函數 13
2-1-3 模糊集合的基本運算 15
2-2 模糊邏輯控制器 18
2-2-1 模糊化界面 19
2-2-2 知識庫 23
2-2-3 模糊推論機構 25
2-2-4 解模糊化界面 29
2-3 多階模糊邏輯控制器 31
2-3-1 多階規則庫 33
2-3-2 多階模糊推論機構 35
2-3-3 規則產生函數 40
2-4 遺傳演算法 46
2-4-1 遺傳演算法的預備作業 48
2-4-2 遺傳演算法的基本運算程序 52
2-4-3 遺傳演算法的特點 57
第三章 TSK MODEL之多階化設計 59
3-1 受控系統描述 59
3-1-1 倒單擺滑車系統 60
3-1-2 球軸系統 63
3-2 多階模糊控制器設計 65
3-2-1 控制問題分析 65
3-2-2 定義多階模糊控制器的資料庫 66
3-2-3 決定多階模糊推論架構 68
3-2-4 設計多階模糊規則庫 69
3-3 利用遺傳演算法設計多階模糊控制器 71
3-3-1 決定利用遺傳演算法搜尋的參數種類 71
3-3-2 決定每種參數的搜尋空間、編碼方式和個體型式 72
3-3-3 決定適應函數 76
3-3-4 決定複製、交換和突變運算的方式 77
3-3-5 決定遺傳演算法的設定條件 77
第四章 模擬結果 78
4-1 倒單擺受控系統的模擬結果 78
4-1-1 倒單擺系統應用於非對稱性樹MSFLC的模擬結果 78
4-1-2 二元樹多階模糊控制器的模擬結果 82
4-2 球軸系統的模擬結果 87
4-2-1 球軸系統應用於非對稱性樹MSFLC的模擬結果 87
4-2-2 球軸受控系統應用於二元樹MSFLC的模擬結果 91
4-3 模擬結果的比較 96
4-3-1 倒單擺受控系統模擬結果的比較 96
4-3-2 球軸受控系統模擬結果的比較 98
第五章 結論與建議 102
5-1 結論 102
5-2 建議 105
參考文獻 106
英文部份: 106
中文部份: 111
作者簡介 112
參考文獻
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中文部份:
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作者簡介
姓名:李文同
藉貫:台灣省台中縣
出生日期:民國六十一年一月二十七日
學歷:
國立雲林工專 電機工程科82年畢
國立台灣科技大學 電機工程技術系87年畢
國立台灣師範大學工業教育研究所 電機電子組
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