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題 名 | 模糊理論應用於X-Y平臺控制之研究 |
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作 者 | 鍾鴻源; 蕭大全; | 書刊名 | 技術學刊 |
卷 期 | 9:3 1994.09[民83.09] |
頁 次 | 頁345-356 |
分類號 | 448.942 |
關鍵詞 | 模糊理論; 推論; 倒單擺; Fuzzy theory; Inference; Inverted pendulum; |
語 文 | 中文(Chinese) |
中文摘要 | 模糊控制是近幾年來新崛起的一項控制理論。由於它具備不依賴受控系統的數學模型之特性,僅需根據人的操作經驗、知識與控制法則推論即可決定控制命令的優點,因此,受到廣泛的使用。本篇論文中,將模糊控制理論運用到X-Y平臺的控制,採取線上方式的模糊控制推論計算,依實驗系統的狀態,即時產生明確(crisp)的控制量。在實驗項目中,包括X-Y平臺的定位控制、一維倒單擺控制、二維倒單擺控制。X-Y平臺的定位控制實驗,是觀察修改模糊控制法則的隸屬函數,對於系統時域特性的影響。其次,使用一維倒單擺控制實驗,驗證模糊控制使用於非線性系統的優點。最後,利用我們設計的一個二維倒單擺控制實驗系統,說明模糊控制必須在平行處理的技術下,才能充分發揮其優點。 |
英文摘要 | Fuzzy control is a control theory arising in recent year. Due to the fact that its control command can be determined simply from the operator's experience, knowledge and the control rules inference, and its characteristic is independent of plant's mathematical model, the application of the fuzzy control has thus been widely used. In this paper, the fuzzy control theory is employed in the control of a X-Y table. It can generate a crisp control quantity in real time in accordance with the state of experimental system in an on-line type to make fuzzy control inference and calculations. The experimental items in this paper include the position control of X-Y table, the control of a onedimensional inverted pendulum, and the control of a two-dimensional inverted pendulum. First, in the experiment for the position control of X-Y table, we observe and modify the membership function in response to the characteristic of the time domain for the system. Next, the experiment of a one-dimensional inverted pendulum is used to show the merit of the application of fuzzy control in nonlinear systems. Finally, in the experiment of a two-dimensional inverted pendulum, it is found that one may combine the technique of parallel processing to get the best control. |
本系統中英文摘要資訊取自各篇刊載內容。