改良比例積分與模糊控制器於線性壓電陶瓷馬達位置控制

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姓名

紀進睿(Chin-Jui Chi) 查詢紙本館藏

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電機工程學系

論文名稱

改良比例積分與模糊控制器於線性壓電陶瓷馬達位置控制
(Improved PI and fuzzy controller realizes position control of piezoelectric ceramic motor)

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摘要(中)

本論文針對壓電陶瓷馬達(Piezoelectric Ceramic Motor)系統之非線性時變的特性，為了因應不同之應用與使用需求下，設計了兩種控制器以應用於壓電陶瓷馬達定位與追蹤控制：一為可變結構比例積分(Variable Structure Proportional Integral, VSPI)控制器，其中VSPI為以PI控制架構改良之控制器，在具備PI架構簡單易實現的優點下，又可改善傳統PI控制因積分器產生之積分終結(Integral Windup)所造成的飽和現象，並消除過大的過超量，但缺點是參數要以試誤法來調整。
另一為模糊邏輯(Fuzzy Logic)控制器，而模糊邏輯控制器因控制法則是由專家經驗所得，所以不需像VSPI控制器在控制環境有重大改變時，需重新調整控制器之參數，因此，在實際控制上有更好的穩定性與適應度。且論文中針對壓電陶瓷馬達系統在控制上可能遇到的問題，提出了另一種改良式的模糊控制架構，以更簡單的方法來達到精密位置控制的目的。實驗結果顯示，此兩種控制架構都可在實際控制應用上實現，且控制效果都有其個別之優點。

摘要(英)

According to nonlinear and time variance character of piezoelectric ceramic motor, we accomplish the orientation and tracking control of piezoelectric ceramic motor for different application and demand. In the thesis, there are two controllers used to control the piezoelectric ceramic motor. One is VSPI (Variable Structure Proportional Integral) controller and the other one is fuzzy logic controller. The VSPI controller ameliorates from the PI controller can be realized easily. Besides, it can improve phenomenon of saturation caused by Integral Windup and eliminates undue overshoot, which occur in traditional PI controller.
The fuzzy logic controller doesn’t have to readjust parameters while environment changing significantly due to its control rules are based on expert’s experience. Thus, fuzzy logic controller can provide better stability and adaptability in practical control. Also, we propose an improved fuzzy control scheme to achieve accurate orientation easily to deal with the problem that the piezoelectric ceramic motor might meet. At last, the experiment result shows both of the proposed control schemes are working extremely well in practical control.

關鍵字(中)

★ PI控制
★ 可變結構控制
★ 模糊控制
★ 壓電陶瓷馬達
★ 超音波馬達
★ 積分終結

關鍵字(英)

★ piezoelectric ceramic motor
★ fuzzy control
★ PI control
★ variable structure control
★ ultrasonic motor
★ integral windup

論文目次

摘要. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ⅰ
目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ⅲ
圖目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ⅵ
表目錄. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .Ⅷ
第一章緒論
1.1 研究動機. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
1.2 文獻回顧. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
1.3 論文大綱. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
第二章精密壓電陶瓷馬達簡介
2.1 壓電陶瓷馬達. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
2.1.1 歷史. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
2.1.2 壓電陶瓷. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
2.2 工作原理. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
2.2.1 概論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
2.2.2 內部主要構造. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2.3 驅動原理. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.3 規格架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.1 馬達規格. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3.2 特性與缺點. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
2.3.3 實驗架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
第三章可變結構之比例積分控制器
3.1 可變結構之比例積分控制器. . . . . . . . . . . . . . . . . . . . . . .21
3.1.1 前言. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
3.1.2 PID控制與可變結構控制. . . . . . . . . . . . . . . . . . . . .21
3.2 控制架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
3.3 實驗系統與實作結果. . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
3.3.1 系統簡介. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33
3.3.2 實作結果之定位控制. . . . . . . . . . . . . . . . . . . . . . . .37
3.3.3 實作結果之追蹤控制. . . . . . . . . . . . . . . . . . . . . . . .44
第四章模糊邏輯控制器
4.1前言與模糊理論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
4.1.1 模糊理論簡介. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
4.1.2 模糊技術. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49
4.1.3 模糊控制. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
4.2 控制架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
4.2.1 前言. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
4.2.2 實驗架構. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .55
4.3 實作結果. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
4.3.1 模糊定位實作控制. . . . . . . . . . . . . . . . . . . . . . . . . 59
4.3.2 模糊追蹤實作控制. . . . . . . . . . . . . . . . . . . . . . . . . 65
第五章結論與展望
5.1 結論. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
5.2 未來展望. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
參考文獻. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71

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指導教授

徐國鎧(Kuo-Kai Shyu)

審核日期

2002-7-4

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