臺灣博碩士論文加值系統

由於倒單擺控制系統為一個非線性且不穩定之系統，因此常被眾多研究視為驗證控制法則的討論對象。再加上因為單擺角度與台車位置之間會相互影響、干擾，所以若使用傳統控制理論來完成穩定單擺與台車定位這兩個控制目標是相當困難的。本研究利用模糊解耦合的方式來將系統分解成兩個子系統，並利用滑動模式的方法來減低模糊邏輯控制的規則數目，且利用適應性法則來自動學習所需的控制規則以同時完成倒單擺系統的穩定單擺與台車定位兩個控制目標。最後，將此適應性解耦合模糊滑動控制法則應用到實際的倒單擺系統上來加以驗證所提出方法之可行性，經由實驗結果可以證明適應性解耦合控制可以成功地完成預期的控制目標。

The inverted pendulum system is a typical fourth-order nonlinear, time-varying, coupling, and unstable dynamic system. In this study, an adaptive decoupled fuzzy sliding-mode controller (ADFSMC) is proposed to achieve the control objectives of the inverted pendulum system. In the ADFSMC, the whole fourth-order nonlinear system is decoupled into two second-order subsystems. The control action is combined with main subsystem and secondary subsystem to make both subsystems moving toward their sliding surfaces, respectively. Moreover, an adaptive law based on Lyapunov stability theory can online tune the fuzzy control rules and the bound of uncertainty approximation error, so that the whole system’s stability can be guaranteed. Finally, we utilize the ADFSMC to control the actual inverted pendulum system. From the experimental results, it is shown that the ADFSMC can achieve the control objectives and can overcome the external disturbance.

書名頁i
論文口試委員審定書ii
授權書iii
中文提要iv
Abstract v
Acknowledgments vi
Contents vii
List of tables ix
List of figures x
Chapter 1 Introduction 1
1.1 General Remark and Overview of Previous Work 1
1.2 Objectives and Organization of the Thesis 3
Chapter 2 Mechanism Structure of Inverted Pendulum System 5
2.1 Overview 5
2.2 Mechanical Structure of Experimental Mechanism 5
2.3 Controller Structure of Inverted Pendulum System 6
2.4 Mathematical Model of Inverted Pendulum System 8
2.5 Summary 15
Chapter 3 Controller Design for Inverted Pendulum System 20
3.1 Overview 20
3.2 Swing-up Controller Design 21
3.3 Balance Controller Design 22
3.3.1 PID Controller Design 22
3.3.2 Fuzzy Logic Controller Design 24
3.3.3 Fuzzy Sliding-Mode Controller Design 28
3.3.4 Decoupled Fuzzy Sliding-Mode Controller Design 32
3.3.5 Adaptive Decoupled Fuzzy Sliding-Mode Controller Design 34
3.4 Summary 39
Chapter 4 Experimental Results 44
4.1 Overview 44
4.2 Experimental Results 45
4.3 Summary 47
Chapter 5 Conclusions and Suggestions for Future Research 64
5.1 Conclusions 64
5.2 Suggestions for Future Research 65
References 66

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