臺灣博碩士論文加值系統

由於氣壓具有可壓縮性及孔口流等非線性之特性，使氣壓驅動系統成一時變與高度非線性之系統，所以要建立系統確切的數學模式，以進行模式為基礎之控制器設計是不容易的。本研究嘗試以函數近似法為基礎之適應性滑動控制器，結合適應性模糊滑動控制器，來針對主動式單缸膜片氣壓隔振系統進行控制。研究中利用Lyapunov穩定法則確保控制系統在受控過程中之穩定性，並藉以獲得系統控制參數之更新律。本研究利用正交函數為基底之函數近似法來逼近系統動態模式中之未知函數，可以免去滑動控制需要系統數學模式之限制，另外加入具即時自調能力之適應性模糊滑動控制器，可以有效補償有限項函數近似所產生的誤差。從實驗結果可以得知，本研究所設計以函數近似法為基礎之適應性滑動模式控制器，當其結合適應性模糊滑動控制器後，呈現良好之控制成效。整體而言，本文所推薦控制法則的控制效果與傳統之PID控制器或適應性模糊滑動模式控制器相較，擁有較佳之性能。

Since diaphragm-type pneumatic vibration isolator has nonlinear and time-varying characteristics, it is difficult to establish an accurate dynamic model for designing a model-based controller. In this thesis, a model-free functional approximation based (FA based) adaptive sliding controller is integrated with an adaptive fuzzy-based compensator (AFSMC) and proposed to control the diaphragm-type pneumatic vibration isolator. The functional approximation technique is employed here to approximate the unknown time-varying function and release the model-based requirement of sliding-mode control. The update laws for the coefficients of the Fourier series functions are derived from the Lyapunov stability theory. To that end, the close-loop stability is also assured. The proposed FA+AFSMC control scheme is verified in the active control of the diaphragm-type pneumatic vibration isolator. Experimental results indicate that the control performance obtained from the proposed scheme are better than those obtained from traditional PID control or adaptive fuzzy sliding control.

目　錄
明志科技大學碩士學位論文指導教授推薦書 i
明志科技大學碩士學位論文口試委員會審定書 ii
明志科技大學學位論文授權書 iii
誌謝 iv
中文摘要 v
Abstract vi
目　錄 vii
圖目錄 ix
表目錄 xi
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 2
1.3 研究動機與目的 6
1.4 論文架構 6
第二章 主動式氣壓隔振系統 8
2.1 主動式氣壓隔振系統架構 8
2.2 控制器單元 10
2.2.1 個人電腦 10
2.2.2 Reconfigure Controller 10
2.2.3 位移感測器 14
2.2.4 壓力感測器 16
2.2.5 加速度感測器 17
2.3 隔振平台機構與致動系統 18
2.3.1單缸膜片式氣壓驅動器 18
2.3.2 氣壓流量比例閥 19
2.3.3 激振器 21
第三章 控制理論 23
3.1 簡介 23
3.2 PID控制理論 23
3.3 適應性模糊滑動模式控制器 26
3.4 FA控制器加上AFSMC之控制器設計 33
第四章 實驗結果 42
4.1. 系統動態測試 42
4.2. 實驗分析 43
第五章 結論與未來研究 65
參考文獻 66

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