- 學位論文
飛輪式倒單擺系統之智慧型控制與實現
Intelligent Control for Flywheel Inverted Pendulum System
摘要
飛輪式倒單擺系統(Flywheel Inverted Pendulum)是一個快速且不穩定的非線性系統，亦常被用於驗證在各種追蹤控制的理論研究中。本系統主要係由類似鐘擺的機械結構所組成，並且擁有兩個旋轉自由度，也因非線性特性之緣故，在撰寫設計控制程式上會面臨許多不易設計的情形，故倒單擺系統亦常被應用於各種控制理論的驗證，於現今業界機構控制程式上的實例也不勝枚舉。 本研究主要為設計開發出新型自動化控制的飛輪式倒單擺機構實驗教具，作為本論文的實驗平台，首先利用Lagrange能量的觀念，分析實驗平台結構的運動狀態並建立動態方程式，透過採用MATLAB Simulink視覺化圖控軟體作為控制介面下達控制命令，再利用線性二次最佳化調整器(LQR)、比例-積分-微分控制器(PID)及適應性模糊控制(ANFIS)等控制理論，分別經由甩上控制、直立控制及小直立平衡控制三階段的控制狀態撰寫其系統之控制器，以達成智慧型控制之研究與實現。
並列摘要
This study is proposed the flywheel inverted pendulum (FIP), the newest inverted-pendulum-like device for control education and research. The flywheel inverted pendulum exhibits several properties, such as under-actuation and nonlinearity, which make it an appealing and valuable for research, industry application, and advanced control lab course. From a mechanical viewpoint, the proposed FIP system is a simple pendulum with a rotating wheel at the end. It owns two degrees of freedom. The wheel is attached to the shaft of a DC motor, and the coupling torque between the wheel and pendulum can be used to control the motion of the system. The objectives of the research are to construct a novel prototype and develop control environment for FIP system. The dynamic equation based on Lagrangian formulation has been developed. The controller was implemented using MATLAB and Simulink during experiments. The control algorithm is divided into three steps: swing-up, standing up, and balancing. Moreover, several controllers which include Proportional-Integral-Derivative (PID), Linear Quadratic Regulator (LQR), and Adaptive-Network-Fuzzy-Inference (ANFIS), have been implemented for such model verification.