以LabWindows/CVI實現模糊滑動控制器及其在倒單擺車上之應用

The Realization of Fuzzy Sliding Controller Using LabWindows/CVI and Application to Inverted Pendulum Car

徐鈺泓(Yu-Hong Hsu)

指導教授 ： 陳大道

崑山科技大學/工程學院/電機工程研究所/碩士(2007年)

摘要

本篇論文使用一個基於滑動模態理論的模糊理論，用來控制一倒單擺車系統，這個控制理論稱為模糊滑動模態控制(FSMC)。文中使用LabWindows/CVI撰寫模糊滑動控制法則程式，並結合硬體介面應用於倒單擺車系統之控制。經由這兩種控制理論的結合，使得在倒單擺車這個非線性系統中，有著良好的控制效果。經過控制模擬與實驗證明，所提出的控制方法是有效且優越的。

關鍵字

模糊邏輯控制 ； 滑動模態控制

並列摘要

This thesis presents the application of fuzzy control theory, a method based on the principle of sliding mode control, called fuzzy sliding mode. We use Labwindows/CVI to realize the fuzzy sliding mode controller, the control effort of controller output to the peripheral electric hardware circuit makes the car-pole inverted pendulum equilibrium. A simulation study of car-pole inverted pendulum system is presented to demonstrate the effectiveness of the controller.

並列關鍵字

Fuzzy Logic Control ； Sliding Mode Control

參考文獻

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