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題 名 | Application of Neural-fuzzy Sliding-mode Control to a Trolley Control System=類神經模糊滑動模式控制於小臺車控制系統的應用 |
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作 者 | 陳沛仲; | 書刊名 | 南臺學報 |
卷 期 | 34:4 2009.12[民98.12] |
頁 次 | 頁17-26 |
分類號 | 448.942 |
關鍵詞 | 類神經網路; 模糊系統; 滑動模式控制; Neural network; Fuzzy system; Sliding mode control; |
語 文 | 英文(English) |
中文摘要 | 本文提出一類神經模糊滑動模式控制架構並應用於小台車控制系統。這個實驗平台的非線性、不確定性及 未知干擾量,例如:二手的直流馬達、振動效應、變動的摩擦力、齒輪間隙、不平順運轉及自製驅動電路,嚴 重影響系統的動態行為。為了簡化控制器設計,系統模式是由實驗方法來取得的。由於建模時,並沒有將系統 的非線性、不確定性及未知干擾量考慮進去,所以模擬結果比實驗結果好。本文將比較應用所提出的控制器、 滑動模式控制器及PI 控制器的數值模擬及實驗結果來做說明。不論是數值模擬或實驗結果,在降低控制信號的 抖動現象及提高控制品質方面,都證明所提出的控制器比滑動模式控制器及PI 控制器佳。這意味著應用類神經 模糊滑動模式控制於一性能不好的控制系統是可行且有效的。 |
英文摘要 | In this paper, a neural-fuzzy sliding-mode control scheme is proposed and implemented to a trolley control system. The nonlinearities, uncertainties and unknown disturbances, such as second-hand DC motors, vibration effect, variable friction, gear backlash, stick-and-slip and self-made driving circuits, of the proposed platform affect the dynamic behavior very much. In order to simplify the design of controller, the system model is obtained experimentally. Due to the un-modeling of uncertainties, nonlinearities, and unknown disturbances, the simulation results are better than the experimental ones. The comparisons between numerical simulations and experiments of using the proposed, sliding-mode and PI control ones are illustrated in this paper. Either numerical simulations or experimental results show that the proposed control scheme is better than the sliding-mode or PI control scheme in reducing the chattering of control signal and the control performances. It indicates that applying neural-fuzzy sliding-mode control to an ill-defined control system is available and effective. |
本系統中英文摘要資訊取自各篇刊載內容。