- 學位論文
全自動模糊控制微量分注器設計與實現
Design and Implementation of Fully Automatic Micropipette with Fuzzy Control
摘要
本論文提出一個低成本高精準度的全自動模糊控制微量分注器的設計方法。本微量分注器可以控制微量吸管吸取三種不同的吸取量，分別為40、50及200µl，透過模糊控制概念與液體吸取高度誤差設計出一個模糊調節控制系統，並使用解模糊化介面來自動調節吸取量。本文透過線性回歸(liner regression, LR)的方式，得到馬達的步進數與吸取量之間的關係方程式。之後可以透過此關係方程式控制吸取器準確吸取10-200µl的液體。由實驗結果可知，所設計之全自動模糊控制微量分注器能精準地控制三種吸取量於±1µl內；經調節過後可控制吸取量於±7µl內，改善吸取器步進馬達在不同液體密度下所造成失步及失速的不確定性。 關鍵字：液面偵測、微量分注器、微量吸管、步進馬達、模糊控制
並列摘要
This thesis aims to raise the low cost and high accuracy design method of fully automatic micropipette with a fuzzy control system, which can aspirate three different volumes to 40µl, 50µl, and 200µl. Through the fuzzy control concept and the height of aspirating liquid, the module of the fuzzy control system can be constructed, and automatically adjust the error of the volume in accordance with the defuzzification. On the other hand, the correlation equation is derived in terms of the steps of the stepper motor and aspirating volume via the linear regression (LR). With the equation, the volume can be aspirated accurately from 10µl to 200µl afterward. Finally, the result of the experiment indicates the fully automatic micropipette with fuzzy control system can precisely aspirate three different volumes either within the error of ±1µl of non-adjustment or within the error of ±7µl of adjustment. Improving the uncertainty of step losses of stepper motor of micropipette caused by the different liquid density.