臺灣博碩士論文加值系統

本研究主要目的為提出一套方法於雙軸伺服機構上，在相同的線速率下，根據路徑與水平軸的夾角 及角度變化率 ，先利用線性二次式調節器求得多組的最佳化PID控制器參數，再使用模糊邏輯控制器提高對於不同輪廓路徑的適應能力，以達成降低輪廓誤差之目的。
由方程式(2.4)可知，可藉由降低追蹤誤差間接地改善輪廓誤差，因此本研究使用PID控制器與前饋控制器之雙軸非耦合架構，以簡化控制器設計，並以心型路徑為參考輸入命令，進行實驗。由實驗結果得知，在角度變化急遽的情況下，對於輪廓誤差的改善，也有相當好的效果。

A fuzzy linear quadratic optimal control approach is formulated for biaxial contour tracking problem. In order to decrease contour error, the thesis employs a performance index with variable weights on quadratic contouring error, tracking error, and control input in overall path. The effect which uses fuzzy logic controller increases adaptive capacity for all paths.
The estimation formula of contour error shows reducing the tracking error can improve the contour error further. Therefore, to design simply the uncouple controller which combines PID controller with Feedforward controller.
The thesis investigates a heart trajectory which consists of two straight lines and four curves. Experimental results demonstrate that one can get the good tracking performance when angles of this path change with time.

摘要 I
ABSTRACT II
目錄 III
圖目錄 V
表目錄 VII
第一章 序論 1
1.1 研究動機 1
1.2 文獻回顧 1
1.3 論文架構 3
第二章 系統數學模式與誤差定義 4
2.1 系統數學模式 4
2.2 輪廓誤差 6
第三章 控制器之分析與設計 11
3.1 線性二次調節器 11
3.2 模糊線性二次調節器 13
3.3 穩定性分析 18
第四章 模擬與實驗結果 20
4.1 實驗架構 20
4.2模擬與實驗 24
第五章 結論與展望 36
5.1 結論 36
5.2 未來展望 36
參考文獻 38
附錄A 40
A.1 PID控制器與前饋控制器 40
附錄B 42
B.1 模糊控制簡介 42
B.2 模糊化(FUZZIFIER) 42
B.3 模糊規則庫(FUZZY RULE BASE) 42
B.4 推論引擎(INFERENCE ENGINE) 43
B.5 解模糊化(DEFUZZIFICATION) 43
附錄C 45

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