適應性模糊控制器應用於混沌系統與無刷直流馬達之設計

Adaptive Fuzzy Logic Controller Design for Chaotic Systems and BLDC Motor

徐嘉佑(Chia-Yu Hsu)

指導教授 ： 林志民

元智大學/電機通訊學院/電機工程學系/碩士(2009年)

摘要

本論文分別針對混沌系統之同步控制與無刷直流馬達之定位控制設計了適應性模糊控制器與適應性模糊滑動控制器。由於混沌系統的變化是不可預測的，因此此類系統的同步成為工程界的一大課題；另一方面，無刷直流馬達已被廣泛的運用在生活中，所以如何精準的控制馬達也變成非常重要。本論文所提出的控制器包含了一個模糊邏輯控制器以及一個補償控制器，其中模糊邏輯控制器被用來近似一理想控制器，而補償控制器則是用來抵消近似誤差所帶來的影響並且確保系統之穩定。為了能夠有效的消除近似誤差，在此分別提出了具有估測近似誤差邊界能力的滑動型補償控制器、模糊邏輯補償控制器以及雙曲正切補償控制器。此外，為了提升控制初期的追蹤效能，模糊邏輯控制器的輸出權重被設計成由積分項與比例項所組成。最後，由混沌系統的同步模擬及無刷直流馬達的實作追蹤控制結果可以看出，所提出的控制器均可以達到使系統穩定且擁有良好控制效能的目標。

關鍵字

適應性 ； 糢糊控制 ； 模糊滑動控制 ； 混沌系統 ； 無刷直流馬達

並列摘要

In this thesis, synchronization of nonlinear chaotic systems and position control of BLDC motor are achieved by proposed adaptive fuzzy controller and adaptive fuzzy sliding-mode controller, respectively. The behavior of chaotic systems is unpredictable, so how to synchronize this kind of systems becomes a great deal in engineering community. The precise control of these nonlinear motors becomes very important because the brushless DC (BLDC) motors are applied widely nowadays. The proposed controllers are composed of a fuzzy logic controller which is utilized to approximate an ideal controller and a compensator which is used to eliminate the approximation error and guarantee the stability of system. To eliminate the approximation error properly, three kinds of compensators have been designed which are sliding-mode type compensator with bound estimation, fuzzy logic compensator and hyperbolic tangent compensator. Furthermore, the output weights of fuzzy logic controller are designed to consist of a proportional term and an integral term. Consequently, the tracking performance and converge of parameters can be improved. From the simulation results of synchronization and practical experimental results of BLDC motor, the system stability and favorable control performance can be achieved by the proposed adaptive fuzzy logic control systems.

並列關鍵字

Adaptive ； Fuzzy Control ； Fuzzy Sliding-mode Control ； Chaotic system ； BLDC Motor

參考文獻

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