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題名 | 磁浮懸吊系統強健模糊控制器之分析及設計=Analysis and Design of a Robust Fuzzy Controller for a Magnetic Levitation Suspension System |
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作者姓名(中文) | 陳昭雄; 王茂祥; | 書刊名 | 大葉學報 |
卷期 | 13:1 2004.06[民93.06] |
頁次 | 頁67-76 |
分類號 | 448.942 |
關鍵詞 | 模糊控制; 非線性系統; 磁浮懸吊系統; Fuzzy control; Nonlinear system; Magnetic levitation suspension system; |
語文 | 中文(Chinese) |
中文摘要 | 磁浮懸吊系統是藉由控制電磁鐵所產生的電磁力來使受控體被吸引且定位於所需位置,然而此系統之電流與電磁力間是屬於非線性變化的關係,且所建立之數學模型與真實之物理系統往往存在著不確定性之差異,所以控制時必須克服系統之非線性與不確定性對控制系統之干擾。本文提出一種新的強健性模糊控制器的設計方法,用於解決非線性不確定系統的控制問題。首先,分析一乘-和(product-sum)形式模糊控制器的輸入與輸出行為,從結果顯示這種形式模糊控制器的輸出會近似於一增益隨狀態位置改變之狀態回授控制器,應用H-inf控制的設計技巧,我們提出一種具有系統化之模糊控制器的分析及設計方法,以確保受控系統之強健穩定控制,甚至是整個控制系統之性能,雖然受到系統非線性不確定性動態之干擾,透過模糊控制器參數之調整,可使此干擾對系統產生之誤差,限制在一預定之範圍內。最後,應用所提出的模糊控制器於真實磁浮懸吊系統之控制,以驗證本文所提方法之有效性。 |
英文摘要 | This paper presents a new design method for fuzzy controllers to achieve H-inf optimal performance for a class of uncertain nonlinear systems. First, the dynamic behavior of a Product-Sum type fuzzy controller is analyzed, and the result reveals that this type of fuzzy controller behaves approximately like a state-space feedback controller with non-constant feedback gains, which are dependent on input signals. Based on the H-inf control design technique, a systematic analysis and design of the fuzzy controller is presented for guaranteeing stability, or even performance. Finally, the fuzzy controller is applied to a magnetic levitation system to confirm the validity of the controller. |
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