智慧型模糊自調式PI控制於壓電陶瓷馬達之應用

Application of Intelligent Fuzzy Self-Tuning PI Control for Piezoelectric Ceramic Motor

黃章銘(Zhang-ming Huang)

指導教授 ： 謝聰烈

崑山科技大學/工程學院/電機工程研究所/碩士(2007年)

https://doi.org/10.6828/KSU.2007.00059

摘要

壓電陶瓷馬達屬於非線性時變系統，其相關參數伴隨著工作溫度與負載干擾而變動，故難以建立精確的數學模型，所以傳統比例積分控制器需依馬達參數變動做適當的調整，才能達到較佳的控制性能。因此，本論文針對壓電陶瓷馬達驅動系統參數變動或負載干擾影響，提出一智慧型模糊自調式比例積分控制架構，藉以改善傳統比例積分控制的缺點，而得到較佳的系統暫態響應及負載干擾的消除。其模糊邏輯法則為根據速度誤差值及其時間微分作為系統參數變動及負載干擾量多寡為依據，進而於線上即時調整控制器中的比例及積分增益參數值，藉以降低系統響應超越量及減少上升時間，使驅動系統得到最佳暫態響應及負載干擾之消除。最後使用數位訊號處理器與個人電腦為輔助工具，來驗證本控制架構的可行性與正確性。

關鍵字

智慧型模糊自調式比例積分控制 ； 壓電陶瓷

並列摘要

The piezoelectric ceramic motor belongs to nonlinear and time varying system. It is difficult to obtain accurate mathematics model for the working temperature variation and load disturbance. Therefore, the traditional PI controller needs to make proper adjustment in accordance with the parameter variation of the motor, could reach better control performance. In order to achieve good dynamic performance for disturbance rejection, parameter vibration and set point tracking, an intelligent fuzzy self-tuning PI control is used to control the velocity for the piezoelectric ceramic motor. A fuzzy logic inference is adopted to regulate the parameter of the PI controller on-line on the basis of the velocity error and its derivative. In the proposed method, both the overshoot and the rise time in tracking can be reduced. The performance is evaluated by a TMS320LF2407A digital signal processor based setup for real time control. Experimental results showed that the proposed control scheme is robust against load disturbance and motor parameter variations.

並列關鍵字

intelligent fuzzy self-tuning PI control ； piezoelectric ceramic

參考文獻

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