- 學位論文
導風扇型雙軸控制平台之設計與實現： 使用監督式強健型Type-2區間模糊邏輯控制器
Design and implementation of ducted fan type two-axis control system: using supervisory robust interval type-2 fuzzy logic controller
摘要
在本論文中，我們實現了一個以導風扇（Ducted Fan）為基礎之雙軸控制平台。為完成平台的平衡控制之目標，我們設計了一主動式的平衡控制器，以平台轉動的角度與角速度當作控制變數，主動控制導風扇的出力。在本論文中，我們提出監督式強健型Type-2區間模糊邏輯控制器作為我們的控制演算法。Type-2區間模糊邏輯控制器為一般傳統模糊邏輯控制的延伸，適合用於因系統與環境使歸屬度無法明確決定時使用，本系統便是因模型簡化以及忽略外在干擾而使歸屬函數無法準確選取，故使用Type-2區間模糊邏輯控制器來當系統主控制器。監督式控制器與強健控制器皆具有增加系統穩定性的功能，將其與Type-2區間模糊邏輯控制器做結合後將可透過李亞普諾夫定理(Lyapunov theory)使其穩定性獲得保證。最後，我們也將透過導風扇型雙軸控制平台之模擬與實驗，分別比較PID控制器、監督式強健型模糊邏輯控制器和監督式強健型Type-2區間模糊邏輯控制器的模擬與實驗結果，驗證監督式強健型Type-2區間模糊邏輯控制器在平衡與訊號追蹤上有較佳的成效。
並列摘要
In this thesis, we design and implementation a ducted fan type two-axis control system. The ducted fan type two-axis control system has many uncertainty and time varying terms that is difficult to establish an exact mathematical model. In order to control such a system, a supervisory robust interval type-2 fuzzy logic controller is developed. The concept of type-2 fuzzy sets (T2FSs) is an extension of the concept of type-1 fuzzy sets (T1FSs) and it is suitable for membership function is difficult to determine when mathematical model of system is not clear. In addition, the stability of supervisory robust interval type-2 fuzzy logic controller can be guaranteed by Lyapunov theory. Finally, the simulation and experimental results of propose ducted fan type two-axis control system demonstrates the good performance of the whole control system.