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題名 | 解耦合自組織模糊滑動模式控制器應用於閥控液壓缸系統力控制與負載感測控制之研究=Study on Force Control and Load-sensing Control of a Hydraulic Valve-controlled Cylinder System with Decoupling Self-organizing Fuzzy Sliding-mode Controller |
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作者姓名(中文) | 楊飛龍; 江茂雄; 郭振華; 吳聰能; 陳義男; 葉羿辰; | 書刊名 | 國立臺灣大學工程學刊 |
卷期 | 92 民93.10 |
頁次 | 頁57-70 |
分類號 | 448.942 |
關鍵詞 | 解耦合自組織模糊滑動模式控制器; 閥控液壓缸系統; 力控制; 負載感測控制; 耦合系統; Decoupling self-roganizing fuzzy sliding-mode controller; Hydraulic valve-controlled cylinder system; Force control; Load-sensing control; Coupled system; |
語文 | 中文(Chinese) |
中文摘要 | 本研究以解耦合自組織模糊滑動模式控制器應用在整合閥控液壓缸系統力控制與負載感測控制。控制器設計結合模糊控制、滑動模式控制、自組織修正器及解耦合控制應用於整合系統,以減少模糊規則庫的數目,在線上即時修正模糊規則庫,來補償此二輸入二輸出系統的耦合影響;同時達到力控制與負載感測控制的目標。 實驗結果顯示,本研究成功地以解耦合自組織模糊滑動模式控制整合力控制與負載感測控制,驗證了整合控制系統具有優越之性能,不僅比傳統閥控液壓缸系統具有更佳的力控制響應,同時更可節省整合控制系統80% 以上之消耗能量。 |
英文摘要 | In this study, a decoupling self-organizing fuzzy sliding-mode controller is developed for the integrated control of force control and load-sensing control in the hydraulic valve-controlled cylinder system. The overall control system is a coupled two-input two-output system. Therefore, the controller, composed of fuzzy control, sliding-mode control, self-organizing modifier and decoupling compensator, is implemented to reduce the fuzzy rule numbers, self-organize the fuzzy rules on-line and counteract the coupling effects. The experimental results show the outstanding performance of the parallel control in the controlled system with the proposed controller. In comparison with the conventional valve-controlled system, the integrated control system with the proposed algorithm can achieve the better force control responses and the significant energy-saving effect simultaneously. |
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