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題 名 | 模糊理論應用於機械手臂適應性控制之研究 |
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作 者 | 吳堅本; 呂振榮; 胡永柟; | 書刊名 | 大葉學報 |
卷 期 | 3:1 1994.12[民83.12] |
頁 次 | 頁37-54 |
分類號 | 448.942 |
關鍵詞 | 追隨參考模式適應性控制; 模糊歸屬函數; 非線性高耦合; Model following adaptive control; Fuzzy membership function; Nonlinearity and highly coupling; |
語 文 | 中文(Chinese) |
中文摘要 | 在對一個不明確且具非線性、高耦合系統之機械手臂實體,且無數學模式下,設計一模糊控制器並結合追隨參考模式達成適應性控制。模糊控制器之設計全靠試誤法來規劃模糊規則表及歸屬函數,方式推得適應於 DC 伺服馬達的模糊控制增益表,並深入考量 DC馬達(手臂)對不同角度之電氣死區偏壓補償表,將二表匯聚成近似三維(3D)控制增益表,最後以電腦整合軟硬體系統,以即時索引查表方式作線上執行實體控制,以驗證模糊適應控制之可行性。結果顯示,在模糊適應(參考模式)控制架構下,非線性高耦合之機械手臂確實能成功地追隨參考模式。 |
英文摘要 | In control system design, one of the most difficulty things is that the mathematical model is hardly to obtain if the plant of the system has the properties of highly coupling and nonlinearity. In order to conquer these difficulties, we propose a method that combine fuzzy with adaptive model following control theories on a highly coupling, nonlinearity robot arm system. Under this application, without any mathematical model need to be known, the output of robot arm can follow the reference model completely. The simulation results show that the idea we proposed is really suitable for highly coupling, nonlinearity and time-varying systems. Besides, the implementation of the hardware robot arm with the software controller is also proposed. |
本系統中英文摘要資訊取自各篇刊載內容。