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    题名: 雙質量彈簧系統之模糊控制器設計研究
    作者: 楊忠憲;CHUNG-HSIEN YANG
    贡献者: 機械工程研究所
    关键词: 基因演算法;PID控制器;模糊控制;多輸入多輸出系統;振動系統;PID Controller;Fuzzy Control;MIMO System;Gene
    日期: 2006-07-05
    上传时间: 2009-09-21 11:55:45 (UTC+8)
    出版者: 國立中央大學圖書館
    摘要:   本論文研究目的是針對具有系統耦合特性的多輸入多輸出(MIMO)非線性動態系統,由推導建立雙質量彈簧動態系統輸入與輸出關係的理論模型,且針對非線性提出穩定分析理論。並設計了兩個以模糊理論為基礎的控制器,來使系統能夠同時達到穩定和定位的振動控制。 本論文首先提出模糊自調適PID控制器,運用模糊理論架構簡單的模糊控制器,並藉由可自動調整PID參數機制,讓時變的系統,能夠獲得適時的控制。另一項控制方法是模糊基因演算法控制器,運用改良型基因演算法搜尋調整模糊控制器相關參數,成功改善其演算法在搜尋最佳解問題時,會有不穩定因素、收斂緩慢、不成熟收斂而落入局部最佳解等缺點,穩定收斂且有效搜尋近似最佳解。   經由電腦模擬結果顯示,在雙質量彈簧動態系統中可使之加速穩定收斂,顯示這兩種模糊控制器都具有良好的控制性能,因此以上兩種控制器能夠成功的克服非線性、耦合、參數不定及外在干擾問題。 The purpose of this thesis is focused on the analysis and controller design of non-linear dynamic system with multi-input / multi-output (MIMO) and systematic coupling characteristics. The dynamic model of a two-level mass-spring damper system is first derived; then, two controllers based on the fuzzy theory are developed accordingly. Finally, numerical simulation is carried out to verify the stability and robustness of the controllers. Firstly, a fuzzy-based self-tuning PID controller is proposed based on the fuzzy theory in this thesis and a simple fuzzy controller is structured to adjust PID parameter mechanism automatically; that can let the time-varying system to get in good time control. Another control method is the fuzzy-based genetic algorithm controller and is used the improvement on genetic algorithm to adjust the fuzzy relevant parameter of controller. This control strategy succeeds in improving destabilizing factors, slow-converging, and the local-optimal controller gains with incomplete convergence etc, while algorithms searching the optimal controller gains. It can converge steadily and search effectively the optimal or approximate-optimal controller gains. According to the simulation results of the computer, two-level mass-spring damper dynamic system can make theirs accelerating convergence steadily, and these fuzzy controllers both have good control performance. The above- strategy of two controllers can be successful to solve the programs of the non-linear, coupling, irregular parameter and external interference.
    显示于类别:[機械工程研究所] 博碩士論文

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