臺灣博碩士論文加值系統

本論文以無刷直流馬達當為受控對象，提出雙層模糊系統控制器的設計概念，設計其數位電路並實作在FPGA晶片中，進行馬達位置定位控制的相關實驗。
模糊控制器的設計與應用已經被廣泛地研究多年，並有很多成功的例子。但是因為傳統的模糊控制器設計仍存在許多困難，因此很多改良的概念不斷地被提出來，其中一個方法就是雙層模糊控制器的設計。雖然過去已有一些雙層模糊控制器的理論與研究，但很少有雙層模糊系統控制器數位電路設計的應用。本論文除了研究雙層模糊控制器的基本理論外，並將控制器實作成數位電路，以直流馬達為受控對象進行馬達位置控制，因此我們也針對馬達控制所需的周邊電路、回授電路與驅動電路，加以詳細探討與設計。
為了驗證雙層模糊控制器的可行性，本論文將所有的控制電路利用VHDL硬體敘述語言實現，然後透過Xilinx ISE予以合成並下載Xilinx spartan3 FPGA晶片裡，並對直流馬達進行位置定位控制實驗。根據實驗結果，證實本論文中的所設計的雙層模糊系統控制器是可行的。

In this thesis, we propose a position control structure of DC motor using a two level fuzzy controller which is realized as a digital circuit and implemented on an FPGA chip.
The design and application of fuzzy controller have been widely studied for many years and achieved a lot of successful application examples. However, there are still some design difficulties for applying traditional fuzzy controller so that many improved approaches have been proposed. One of the strategies is the design by using two level fuzzy controllers. Although a lot of works have studied the theory and application of two level fuzzy controllers in the past decade, there was little research dealing with its digital circuit design. In this thesis, we not only aim to study the theory of two level fuzzy controller, but also design its digital circuit structure for application to the position control of DC motors. Furthermore, we also investigate the design of peripheral circuit for DC motor control, including the feedback circuit and driving circuit.
In order to demonstrate the correctness and efficiency of the proposed two level fuzzy controller circuit, we used the VHDL code to design the two level fuzzy controller circuit. The circuit is synthesized by using Xilinx ISE and then downloaded into a Xilinx spartan3 FPGA chip and it applied to the position tracking control of DC motors. According to the experimental results, we prove that the digital circuit of the proposed two level fuzzy controller is correct and feasible.

摘要 I
Abstract II
目錄 III
表錄 V
圖錄 VI
第一章 緒論 1
1.1簡介 1
1.2研究背景 1
1.3研究動機 2
1.4論文架構 3
第二章 模糊邏輯系統 4
2.1模糊化介面 4
2.2模糊知識庫 6
2.3模糊推論引擎 7
2.4解模糊化介面 8
2.5模糊邏輯系統的完整數學架構 10
第三章 無刷直流馬達與周邊電路設計 12
3.1控制系統架構說明 12
3.2無刷直流馬達 14
3.3 PWM驅動電路 15
3.4光學編碼器 18
3.5回授訊號處理電路 21
3.6誤差訊號產生電路 23
3.7位置命令產生電路 24
第四章 雙層模糊控制器的設計 26
4.1雙層模糊控制器 26
4.2雙層模糊控制器的內部結構分析 28
4.2.1前件部觸發電路 28
4.2.2取小電路 34
4.2.3雙層模糊規則庫電路 35
4.2.4雙層加權平均與相乘電路 42
第五章 硬體架構與實驗結果 51
5.1 Xilinx光纖網路通訊FPGA發展板介紹 52
5.2資料擷取周邊電路介紹 53
5.3實驗流程 56
5.4模糊控制電路的實作分析與討論 59
5.4.1實驗測試 60
第六章 結論與建議 72
6.1結論 72
6.2建議 72
參考文獻 73

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