自調式類神經PID控制於超音波馬達之應用

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姓名

許安仁(An-Jan Hsu) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

自調式類神經PID控制於超音波馬達之應用

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摘要(中)

PID控制器是目前產業界應用最多的控制器，但其控制器參數調整不易，大多依賴專家調整，非常不便。本文提出一個自調式類神經PID控制架構，應用倒傳遞類神經網路理論，對於系統模型參數未知的情況下，使用兩個類神經網路分別進行系統鑑別與PID控制器參數調整。由電腦模擬結果可知，本控制架構能在很短的時間內調整出極佳的控制器參數。最後將此控制架構實際應用於超音波馬達位置控制上，實驗結果則顯示，本控制架構確實可以在實際控制應用上實現，其調整結果亦相當快速良好。

摘要(英)

This thesis presents a self-tuning PID controller based on the neural network theories. There are two multilayer neural networks within the self-tuning PID controller, one for system identification for unknown controlled systems, and the other for the PID gains determination. Back-propagation method is adopted to perform both the neural networks training.
　　The results of computer simulation show that the neural based PID control scheme can tune suitable PID gains within a short period. In addition, the controller was implemented to the position control of an ultrasonic motor. The experimental results have shown that the control scheme is also practically successful.

關鍵字(中)

★ 自調式PID控制
★ 類神經網路
★ 系統鑑別
★ 超音波馬達

關鍵字(英)

★ self-tuning PID control
★ neural network
★ system identification
★ ultrasonic motor

論文目次

中文摘要............................I
Abstract...........................II
致　謝............................III
目　錄.............................IV
圖目錄.............................VI
第一章緒論.......................1
1.1 研究動機...................1
1.2 研究方法...................2
1.3 文獻回顧...................3
1.4 論文大綱...................4
第二章類神經網路與控制理論.......6
2.1 類神經網路理論.............6
2.1.1 神經元的模型...............6
2.1.2 類神經網路的連接方式......12
2.1.3 類神經網路的學習與回想....13
2.1.4 倒傳遞類神經網路..........14
2.2 類神經網路控制架構........20
2.2.1 串列控制架構..............21
2.2.2 平行類神經網路控制架構....23
2.2.3 自調式類神經PID控制架構...24
2.3 PID控制理論...............25
第三章自調式類神經PID控制器.....29
3.1 前言......................29
3.2 系統鑑別網路..............30
3.2.1 系統特性..................30
3.2.2 鑑別方法..................33
3.2.3 系統鑑別網路設定..........35
3.3 PID參數自調類神經網路.....38
第四章電腦模擬與實作結果........42
4.1 電腦模擬與結果............42
4.1.1 系統鑑別..................44
4.1.2 自調式PID控制器...........47
4.1.3 模擬結果討論..............49
4.2 實作與結果................50
4.2.1 超音波馬達簡介............50
4.2.2 實驗架構..................51
4.2.3 系統鑑別..................55
4.2.4 自調式PID控制器...........59
4.2.5 實作結果討論..............61
第五章結論與展望................63
5.1 結論......................63
5.2 未來展望..................64
參考文獻...........................65

參考文獻

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指導教授

莊漢東(Han-tung Chuang)

審核日期

2000-7-12

推文