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題名 | 模糊增益排程控制及其在雙旋轉翼系統的應用=Fuzzy Gain Scheduled Control and Its Application to a Twin Rotor System |
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作者姓名(中文) | 蘇仲鵬; 王俊傑; | 書刊名 | 科技學刊 |
卷期 | 9:1 2000.01[民89.01] |
頁次 | 頁21-30 |
分類號 | 447.738 |
關鍵詞 | 雙旋轉翼多輸入\輸出系統; 增益排程; 積分控制; 局部模糊系統模型; Twin Rotor MIMO System; Gain scheduling; Integral control; Local fuzzy model; |
語文 | 中文(Chinese) |
中文摘要 | 針對一實驗用的雙旋轉翼多輸入╲輸出系統,本文探討其定位與追蹤控制的問題 。控制的目標是:在給定任意投擲角與方位角的設定值或時變參考值,設計一控制器使得連 桿能快速且準確的追蹤指定的信號。仿造古典增益排程與積分控制的方法,考量一近似雙旋 轉翼系統的模糊系統模型,本文提出一有效的非線性控制方案。首先,以一組模糊規則庫妥 善的架構一簇局部的線性狀態空間模型,然後透過在狀態空間上的模糊子集將局部的線性系 統平滑的連接成一個大域的(global)模糊系統模型,以近似原來的非線性系統,並針對此 一模糊系統,進行控制器的設計。根據所發展的控制法則,先行模擬,並觀察其輸出動態響 應。待結果如預期之後,即開始撰寫C語言並轉成可執行程式碼,建立一個PC-Based的雙旋 轉翼即時控制系統,觀察實際運用情形,並比較模擬與實測的結果。 |
英文摘要 | In this paper, we investigate the control problem of an experimental propeller setup which is called a twin rotor MIMO (multi-input multi-output) system. The control objective is to make the beam move quickly and accurately to a specified value, given in the form of a set point or a reference time-varying signal for the pitch angle α□ and the azimuth angle α□, respectively. We propose, in the same spirit of the conventional gain scheduling method and integral control, a nonlinear control scheme based on an approximate fuzzy model of the twin rotor system. Firstly, a set of fuzzy rules is used to construct the suitable local linear state space models. Connecting smoothly the local model in each rule then forms a global fuzzy model of the nonlinear system. Next, corresponding to each local fuzzy model, we design a local controller to optimally meet the design specifications, and the overall fuzzy controller is synthesized, accordingly, based on the fuzzy inference system. Using the developed control law, we constructed a PC-based TRMS real time control system. If a satisfying performance can be observed from the simulation, connect the TRMS through a standard MIO (AD and DA) card to the controller. The output responses ofo the TRMS are measured and are expected to be good, as compared with the previous design methods. |
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