以數位信號處理器為核心的平行式倒單擺之控制研究

Control Research of the DSP-Based Pendubot

林文錦(Wen-Chin Lin)

指導教授 ： 李振興

崑山科技大學/工程學院/電機工程研究所/碩士(2008年)

摘要

本論文主要研究使用線性二次調整法則、H∞法則以及模糊法則控制以數位信號處理器為核心的平行式倒單擺。利用線性二次調整法則以及 法則來達成倒單擺平衡，利用模糊控制理論來達成倒單擺平衡以及採用來回能源幫浦法甩上倒單擺。本文所使用的儀器為智慧型即時自動控制系統，智慧型即時自動控制系統的主要特色是嵌入式控制，因為其數位控制器晶片是TMS320F2812，可以獨立運作。直流馬達是由TMS320F2812晶片上PWM埠來驅動，直流馬達與單擺臂上的編碼器則連結於TMS320F2812晶片上QEP埠。

關鍵字

倒單擺 ； 線性二次調整法則 ； H-infinty ； 模糊控制

並列摘要

This thesis presents the linear quadratic regulation ,H∞ and fuzzy control of the dsp-based pendubot. The linear quadratic regulation and control are utilized to balance the pendubot.The fuzzy control law is utilized to balance the pendubot and the backwards and forwards energy pumping method is adopted to swing up the pendubot. The apparatus EMECS (Electro-Mechanical Engineering Control System) used in this thesis is supplied by TeraSoft Inc. The main feature of EMECS is an embedded control system because the digital controller of EMECS is the TMS320F2812 chip. EMECS can operate stand-alone. The dc motor is driven by the PWM port of TMS320F2812 chip. The encoders of the dc motor and pendulum are linked to the QEP port of TMS320F2812 chip.

並列關鍵字

Pendubot ； LQR ； H∞ ； Fuzzy

參考文獻

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