臺灣博碩士論文加值系統

摘 要
本論文運用雙肌肉氣壓缸作為制動器，配合機構而組成的2D氣壓機械手臂，並利用自組織模糊控制理論設計控制器，對機械手臂個別自由度的運動進行控制。並執行自組織模糊控制器與模糊滑動控制器在2D軌跡控制的實驗，藉由不同實驗，了解2D氣壓機械手臂的暫態與穩態響應結果，並進一步分析自組織模糊控制器及模糊滑動控制器的控制特性與適用性。

Abstract
This thesis is to develop a 2D pneumatic arm control system, which is setup by two muscle actuators and kinematic linkages. Using the self-organizing fuzzy controller can evaluate the dynamic behaviors of each axial subsystem individually.
Then, both self-organizing fuzzy controller and sliding mode fuzzy controller are applied for various experiments of this 2D pneumatic arm control system. From process, experimental results, we can study this transient and steady state behaviors, and then justify their control accuracy and adaptation of self-organizing fuzzy controller and sliding mode fuzzy controller.

第一章 緒論
1.1 研究動機與目的
1.2 文獻回顧
1.3 論文大綱
第二章 實驗系統架構
2.1 系統架構
2.2 實驗設備
2.3 解碼電路
2.4 座標推導
2.5 系統控制架構
第三章 控制理論
3.1 模糊控制理論
3.1.1 模糊控制器的基本架構
3.1.2 模糊化機構
3.1.3 模糊知識庫
3.1.4 模糊推論引擎
3.1.5 解模糊化機構
3.2 自組織模糊控制理論
3.2.1 自組織模糊控制理論推導
3.2.2 自組織模糊控制器的性能指標
3.2.3 自組織模糊控制器的設計
第四章 實驗結果與分析
4.1 實驗參數
4.2 實驗結果
4.2.1 應用SOFC在單軸的角度步階控制
4.2.2 應用SOFC在單軸的角度斜坡控制
4.2.3 應用SOFC與SMFC在2D手臂之定位控制
4.2.4 應用SOFC與SMFC在2D手臂之直線軌跡追蹤控制
4.2.5 應用SMFC與SMFC在2D手臂之曲線軌跡追蹤控制
4.3 實驗誤差分析
第五章 結論
參考文獻
作者簡歷
授權書

參考文獻
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