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題 名 | 單缸膜片式氣壓隔振系統之適應性滑動模式控制=Adaptive Controller for a Diaphragm-Type Pneumatic Vibration Isolator |
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作 者 | 陳宏毅; 梁晶煒; 吳笳瑋; 林龍; | 書刊名 | 應用聲學與振動學刊 |
卷 期 | 5:2 2013.12[民102.12] |
頁 次 | 頁37-43 |
分類號 | 448.94 |
關鍵詞 | 單缸膜片式氣壓隔振系統; 函數近似法; 適應性滑動控制器; Diaphragm-Type pneumatic vibration isolator; Functional approximation technique; Adaptive fuzzy sliding-mode controller; |
語 文 | 中文(Chinese) |
中文摘要 | 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,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,本研究所設計之控制器在單缸膜片式氣壓隔振系統之控制上呈現良好之控制成效。 |
英文摘要 | It is well known that a pneumatic actuating system has nonlinear uncertainty and time-varying characteristics. It is difficult to establish an accurate process model for designing a model-based controller to monitor the pneumatic actuating force. An intelligent control strategy for a diaphragm-type pneumatic vibration isolation system is developed in this research. Here, a model-free adaptive sliding-mode controller is proposed to suppress the vibration of the isolation system. This control strategy employs the functional approximation technique to establish the unknown function for releasing the model-based requirement. In addition, a fuzzy scheme with online learning ability is introduced to compensate the functional approximation error for improving the control performance and reducing the implementation difficulty. The update laws for the coefficients of the Fourier series functions and the fuzzy tuning parameters are derived from a Lyapunov function to guarantee the control system stability. In order to validate the proposed method, a composite control scheme using pressure and velocity measurements as feedback signals is implemented. Experimental results are executed to show the control performance of the proposed controller. |
本系統中英文摘要資訊取自各篇刊載內容。