智慧型量測與控制教學系統之研製

Development of the Intelligent Measuring and Control in Teaching System

林士勛(Shih-Syun Lin)

指導教授 ： 林百福

國立臺北科技大學/機電學院/車輛工程系所/碩士(2005年)

摘要

傳統油壓控制或順序控制的教學訓練上，對其控制元件或系統輸出響應之性能曲線的變化，元件之物理量的量測，作動實際路徑軌跡變化等討論，較為少見，甚至予以忽略。但是這些油壓元件的特性分析非常重要,因為瞭解元件的特性，將有利於系統設計之元件的適當選擇，發揮系統的最大功用。因此,本研究設計及架構二個油壓控制系統: (1)負載液壓缸系統及(2)液壓馬達系統,以提供量測與教學使用。為了方便使用者在教學系統上量測與控制的應用,本研究使用 Borland C++ Builder 6.0 程式語言,以撰寫具有圖控之人機界面。
本研究分別提出三種智慧型控制器：(1) 傳統模糊控制器 (TFC)，(2)灰預測模糊控制器(GPFC)及(3) 自組織模糊控制器(SOFC)，以各別控制所提出之液壓系統，並評估系統的控制性能。再者，於估測系統參數上則使用系統鑑別技術即時建立液壓系統之精確的數學模式，且於控制過程中，亦將系統鑑別技術應用於評估系統元件之物理量變化。經由實驗證實，系統的控制性能及控制元件之物理量量測皆令人感到滿意。

關鍵字

液壓控制系統 ； 特性分析 ； 物理量變化

並列摘要

Traditional teaching and training for a hydraulic control system with a measuring system, it is disregardful for the characteristic analysis of control elements, the change of performance curve on the system response, the measuring of physical quantity change, and so on. However, it is important for a hydraulic control system to understand these characteristics analysis and the physical quantity change of control elements, which can help the system's designer to completely employ the element characteristics to design a good hydraulic control system for enhancing its control performance.
Therefore, this work designed and constructed two hydraulic control systems for teaching and measuring used: (1) hydraulic cylinder with load control system, and (2) hydraulic motor control system. This study applied Borland C++ Builder programming language to develop the software in graphic control with human-machine interface in order to operate conveniently for the users in controlling and measuring applications. This study also proposed two intelligent controllers: (1) traditional fuzzy controller (TFC), (2) grey prediction fuzzy controller (GPFC), and (3) self-organizing fuzzy controller (SOFC), to control individually the proposed hydraulic systems for determining control performance of these systems. Furthermore, the system identification technology was employed in estimating the system parameters online to establish the accurate mathematical model of these systems, and applied in determining physical quality change for the constructed elements of these systems during the control operation. The system control performance and the physical quantity measuring of the control element are satisfactory, as confirmed by experimental results.

並列關鍵字

hydraulic control system ； characteristic analysis ； physical quantity change

參考文獻

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[2] D. Wardman, R. Roddis, ``Design of an electro-hydraulic multivariable control system teaching facility,' IEE Conference Publication, 427/1, 1996, pp. 36-41.

[4] T. T. Williams, ``Evolution of teaching hydraulic software,' World Water and Environmental Resources Congress, Vol. 40, 2003, pp. 3649-3652.

[5] Y. Kimura, T. Tanaka, K. Ueda, H. Nakashima, ``Development of measuring method for pressure pulsation characteristics by using 3-microphones (measurement of damping characteristics of the hydraulic systems),' Proceedings of the ASME/STLE International Joint Tribology Conference, IJTC PART A, 2004, pp. 407-413.

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