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研究生:林學龍
研究生(外文):Shiue-Lung Lin
論文名稱:張力控制系統之模糊終端滑模控制器
論文名稱(外文):A Tension Control System by Fuzzy Terminal Sliding Mode Controller
指導教授:許耿禎楊世銘楊世銘引用關係
指導教授(外文):Geng-Jen ShiuShih-Ming Yang
學位類別:碩士
校院名稱:國立成功大學
系所名稱:航空太空工程學系碩博士班
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2008
畢業學年度:96
語文別:英文
論文頁數:52
中文關鍵詞:料帶張力張力控制
外文關鍵詞:tension controlweb tension
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  張力控制系統具有節省人力提高工作效率的優點,所以在業界被大量的使用。在捲繞的過程當中,必須同時控制捲繞速度及張力,避免變形、下垂、皺紋…等現象的產生。首先要先建立一個雙羅拉的模組來做系統分析,分析的材料是塑膠薄膜。希望透過完整的模組推導,來得到好的動態方程式,進而提高控制的精準度。本文的目標是要針對推導出來的動態方程式,減少簡化,用模糊終端滑模的控制方法來做非線性控制,放料端是做張力控制,收料端是做速度控制,同時達到料帶張力及料帶傳送速度的非線性控制,這是本篇論文的一大難題。模糊終端滑模控制器藉由模糊邏輯的切換來達到改善震顫(chattering)的問題同時提高控制的準確度。在張力控制器設計上,先設計終端滑模先保證控制系統有好的強健性及改善過衝的現象,但是滑模控制始終存在震顫的問題,本論文想要透過模糊控制對滑模函數變化率來預測它的趨勢,這與終端滑模使用的邏輯增益切換最大的不同。在速度控制器的設計上是選用終端滑模,與張力控制相比較,速度控制是相對簡單的,當選用終端滑模控制時已可得到良好的結果,同時也可以節省計算的時間增加實做的可能性。在模擬方面,針對速度目標及張力目標去做單一的變化,進而比較線性滑模控制器、終端滑模控制器與模糊終端滑模控制器的差異。
  最後可以從模擬的結果得到理論的應證,模糊終端滑可以達到非線性控制的要求,並改善線性滑模暫態響應過衝的問題,但關於震顫問題的改善並不是太明顯。
The tension control system has the advantage of the saving labor power and high efficiency, and is used in industry widely. In the winding process, the web tension and linear velocity must be controlled at the same time to avoid deformation, sag and wrinkle. The goal of this thesis is to derive a complete nonlinear model and to achieve the desired performance by nonlinear control theory. The unwinding roller is controlled by web tension control with switching the fuzzy logic gain while the rewinding roller is by linear velocity control terminal sliding mode control (TSMC). By simulation, sliding mode control (SMC), terminal sliding mode control and fuzzy terminal sliding mode (FTSMC) are compared and FTSMC can achieve the nonlinear control and improve the overshoot and chattering of SMC.
ABSTRACT…………………………………………………………………………...i
CONTENTS………………………………………………………………………….. ii
LIST OF TABLES…………………………………………………………………... iv
LIST OF FIGURES………………………………………………………….............. v
NOMENCLATUREX viii
CHAPTER

1 INTRODUCTION 1
1.1 Motivation and Objective 1
1.2 Literature Review 1
1.3 Outline 3
2 NONLINEAR WEB TENSION MODELS 4
2.1 The State Equation of the Tension 4
2.2 Nonlinear Model 8
2.3 Conclusion of the mathematical models of the tension-control system 9
3 THE CONTROL THEORY AND THE DESIGN OF THE CONTROLLER 12
3.1 Terminal Sliding Mode Control (TSMC) 12
3.2 Fuzzy Control Theory 15
3.3 The Terminal Sliding Mode Controller 17
3.4 The Design of the FTSMC 19
4 SIMULATION AND CONCLUSION OF SIMULATION 28
4.1 The Results of Simulation 28
4.1.1 Sliding Mode Controller 28
4.1.2 Terminal Sliding Mode Controller 30
4.1.3 Fuzzy Terminal Sliding Mode Controller 31
4.2 The Effect of the Disturbance 33
4.3 The Conclusion of Simulation 34
5 SUMMARY AND CONCLUSIONS 47
REFERENCS 49
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