使用模糊理論於前饋控制器參數調整-考慮運動命令與驅動力

A Fuzzy Self-tuning Feed-forward Controller Considering Motion Command and Control Effort

吳長林(Cheng-Lin Wu)

指導教授 ： 陳金聖

國立臺北科技大學/機電學院/自動化科技研究所/碩士(2009年)

https://doi.org/10.6841/NTUT.2009.00379

摘要

在控制系統中，回授控制主要在加強系統對外界擾動的強健性，增進系統的穩定性，前饋控制器主要目的是降低機械系統普遍存在之延滯現象，提高控制系統的追蹤性能。一般而言，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，一種典型之方法為加入速度及加速度之訊號進入內迴路，但此動作往往會增加控制力之輸出，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. In the other hand, feed-forward controller shapes motion command to enhance tracking performance. A typical feed-forward controller 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 sections with different velocitys and accelerations. The traditional feed-forward controller is fixed gains the corresponding tuning gains are based on trial and error method. The tracking performance will be restricted within the section with biggest velocity and acceleration in order to fulfill the actuator limitation. This paper presents an intelligent fuzzy self-tuning strategy considering the 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.

並列關鍵字

Feed-forward Controller ； Tracking Performance ； Fuzzy self-tuning ； Tracking Performance ； Output Voltage

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