考慮運動命令與驅動力之伺服系統前饋控制器參數模糊自動調整法則

前饋控制器是藉由改變運動命令來達到提高追蹤性能之目的，但高增益之前饋控制器往往會增加大量之控制力輸出，甚至造成驅動器飽和使系統不穩定，一完整之運動軌跡會包括不同速度與加速度之區段，傳統之前饋控制器以試誤法來調整前饋控制器之參數，滿足驅動器之限制條件後，整體追蹤性能會受限於速度與加速度較大的區段。本論文提出智慧型前饋控制器參數模糊自動調整法則，主要將速度、加速度及控制器運算後之輸出電壓透過模糊專家經驗法則來自動調整前饋控制器參數，簡而言之，當速度與加速度命令較緩的區段，透過模糊策略可以把前饋控制器參數加大以致提升系統性能，且在速度與加速度命令較劇烈的區段使控制系統的控制器運算後之輸出電壓僅有限時間超過飽和限制，不但能夠延長馬達壽命，還能達到提升系統追蹤性能之目的又不致引起不穩定現象。

關鍵字

前饋控制器；追蹤性能；模糊自動調整；輸出電壓

並列摘要

In control scheme, feedback system focuses on improving robustness for external disturbance and increasing system stability. The majority of feed-forward controller is to reduce minimum phase system and non-minimum phase system to improve the tracking performance in mechatronic system. Generally, feed-forward controller shapes motion command to enhance tracking performance. A typical method installs signal velocity and acceleration into inside circuit. But that way always affects control force output, even causes actuator saturation and system instability. A completion motion trajectory includes different section of velocity and acceleration. Traditional feed-forward controller is based on trial and error method for tuning the parameters. To fulfill the limitation in actuator, tracking performance will be restricted within bigger section of velocity and acceleration. According to fuzzy control rule base, this paper presents a intelligent fuzzy self-tuning feed-forward controller that is installed velocity, acceleration and output voltage to automatically tune the gains of feed-forward controller. This self-tuning feed-forward controller can dramatically improve the tracking performance and sustain the actuator output within the saturation limitation, that guarantee the system is stable.

並列關鍵字

Feed-forward Controller ； Tracking Performance ； Fuzzy Auto Tuning ； Tracking Performance ； Output Voltage

國際替代計量

考慮運動命令與驅動力之伺服系統前饋控制器參數模糊自動調整法則

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