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研究生:黃有平
研究生(外文):HOANG HUU BINH
論文名稱:類神經模糊滑動模式控制在小台車系統的應用
論文名稱(外文):THE APPLICATION OF NEURAL FUZZY SLIDING MODE CONTROL IN A TROLLEY SYSTEM
指導教授:陳沛仲陳沛仲引用關係
指導教授(外文):PEI-CHUNG CHEN
學位類別:碩士
校院名稱:南台科技大學
系所名稱:機械工程系
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:2007
畢業學年度:96
語文別:英文
論文頁數:85
中文關鍵詞:類神經模糊控制滑動式模糊控制類神經模糊不確定性小台車有效性控制器
外文關鍵詞:neural fuzzy controlsliding mode controlsystem
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本論文提出一類神經模糊滑動模式控制器且將其應用於小台車的直流馬達驅動系統。使用類神經模糊系統來估測不確定性的界限,以降低因滑動模式控制所造成的振盪效應。一小台車系統被設計用來評估類神經模糊滑動模式控制系統和滑動模式控制系統的有效性。由控制結果知,所提出的控制系統比滑動模式控制系統有較小的切換增益和較小的振盪特性。
In this thesis, a neural fuzzy sliding-mode controller is proposed and implemented in the DC motor drive system of a small trolley. The neural fuzzy system is employed to estimate the suitable bound of uncertainties and reduces the chattering effect induced by the sliding-mode control. The small trolley model is designed to evaluate the effectiveness of the neural fuzzy sliding-mode control system with that of the sliding-mode control system. The controlled results indicate that the proposed control system has smaller switching gain and less chattering phenomenon than the sliding-mode control one.
Content

Acknowledgments.........................................................................................................I
Abstract - 摘要.............................................................................................................II
Content..........................................................................................................................III
List of figures................................................................................................................IV
Chapter 1 Introduction................................................................................................1
1.1 History of various control approaches in DC motor control..............................1
1.2 Outline.....................................................................................................................6
Chapter 2 DC motor model, a review.........................................................................8
2.1 Mathematical DC motor model.............................................................................8
2.2 Application trend discussions................................................................................9
2.3 Some considerations of backlash and reduction gear effects.............................11
Chapter 3 Neural Fuzzy Sliding-mode Controls, Theory.........................................14
3.1 Neural Networks Theory........................................................................................14
3.2 Fuzzy Theory...........................................................................................................21
3.3 Sliding-mode Theory...............................................................................................28
3.4 Implement of Neural Fuzzy Scheme to Sliding-Mode Control System..............33
3.4.1 Sliding-mode control System...............................................................................33
3.4.2 Neural-fuzzy system.............................................................................................36
3.4.3 Implement Neural Fuzzy Sliding mode Control................................................44
Chapter 4 Simulations ..................................................................................................46
4.1 Simulation Procedures ...........................................................................................46
4.2 Simulation Results ..................................................................................................52
Chapter 5 Experiments.................................................................................................59
5.1 Experimental Set up................................................................................................59
5.2 Experimental Procedures.......................................................................................67
5.3 Experimental results...............................................................................................69
5.3.1 PI Control Results................................................................................................70
5.3.2 Sliding-Mode Control Results.............................................................................71
5.3.3 Neural Fuzzy Sliding-mode Control Results.....................................................72
Chapter 6 Conclusions & outlook................................................................................75
6.1 Overviews ................................................................................................................75
6.2 Future work.............................................................................................................75
Publication.......................................................................................................................76
Biography........................................................................................................................76
References ......................................................................................................................77
Reference
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