臺灣博碩士論文加值系統

本論文提出三種控制器架構，分別是模糊比例積分微分(PID)控制器、模糊比例微分(PD)控制器及模糊比例積分(PI)控制器，結合模糊系統與適應控制機制以修正傳統比例積分微分控制器的比例、積分及微分增益參數，在未知受控系統的數學模式之下，使得所提之控制器能近似一理想控制器，以解決未知系統數學模式的控制問題。為了消彌近似誤差與保證閉迴路系統的穩定性，額外附加強健補償控制項。同時，為了確保所設計控制器參數的收斂性，因此，利用參數投影法，使得參數能夠在指定的範圍內運行。為驗證所提控制器架構，分別應用在混沌系統、倒單擺系統、范德堡系統以及電子驅動系統，以驗證所提之控制器性能，經由模擬結果顯示，所提之控制器確實能夠達到追蹤控制性能。最後，將所提方法實現在NIOS嵌入式系統晶片上，並應用於直流馬達轉速控制，經由實驗的結果顯示，在馬達轉速控制上都可以獲得滿意的輸出響應。

In the thesis, the conventional PD, PI, PID controllers integrated fuzzy theory are proposed, the fuzzy theory is used to tune the gain parameters of each proposed controller, so that the tracking problem can be solved in a class of nonlinear systems. The control laws of the proposed controllers (fuzzy PD, PI, PID controller) are respectively used to approximate an ideal control for nonlinear systems. In addition, a compensated controller is designed to assure the system stability. The control laws of the proposed controllers are derived from the Lyapunov stability analysis, so that the system tracking ability and the error convergence can be guaranteed in the closed-loop system. Finally, four nonlinear systems, an oscillation system, an inverted pendulum system, a Ven-Der-Pol system and an electric drive system, are respectively utilized to show the satisfactory performances of the proposed control schemes. Finally, the proposed control algorithms are realized by NIOS embedded system chip, then applied to DC motor speed control.

中文摘要
英文摘要
目次
表目錄
圖目錄
第一章 緒論
第一節 研究動機
第二節 文獻回顧
第三節 論文架構
第二章 理論背景
第一節 比例積分微分控制器
第二節 模糊控制
第三章 控制器設計
第一節 模糊控制器設計
第二節 適應比例積分微分模糊控制器
第三節 適應比例微分模糊控制器
第四節 適應比例積分模糊控制器
第五節 模擬結果
第四章 嵌入式控制系統晶片設計
第一節 嵌入式系統晶片設計流程
第二節 實驗結果與討論
第五章 結論
參考文獻
作者簡介

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