網際網路控制系統之TS模糊PID控制器設計

TS Fuzzy PID Controller Design for Internet-based Networked Control Systems

許文龍(Wen-Long Syu)

指導教授 ： 曾傳蘆

國立臺北科技大學/電資學院/電機工程系所/碩士(2007年)

摘要

隨著網際網路(Internet)的普及化，透過網際網路所建立的閉迴路控制系統常被廣泛的應用在許多地方，因此就有不少學者致力於網際網路控制系統的研究。在現今網際網路遠端操控系統的研究主要分成兩個方向，分別為控制器設計和通訊協定改良與創新。
本論文的主要目的為提出一個適用於網際網路的TS模糊PID控制器(TS Fuzzy PID Controller)，此控制器是由TS模糊推論和數個PID控制器所組成。首先，以實際量測的來回傳送時間(Round Trip Time, RTT) 平均值及標準差決定論域範圍，每個模糊法則會對應到一個事先設計好的PID控制器。然後以實際量測RTT為輸入，利用TS模糊推論機制及解模糊化產生一個適當的控制訊號，以期達到在網路傳輸變動時，受控端能仍維持良好的動態響應。
最後，為了要驗證所提出TS控制器的性能，本論文以BCB(Borland C++ Builder)軟體開發一套網際網路控制系統的圖形使用著介面，並且以直流馬達做實驗控制對象。在通訊協定上，使用新近提出的改良式控制傳輸協定(Control System Transfer Protocol, CSTP)。由實驗結果可知，本論文所提出的控制架構可以提升網際網路的控制效能，使網路閉迴路控制系統有良好的動態特性。

關鍵字

網際網路 ； 網際網路控制系統 ； TS模糊PID控制器 ； 來回傳送時間

並列摘要

With the booming of the Internet, closed-loop control systems via Internet are found in many applications extensively. As a result, many researchers devoted to investigating the Internet-based Networked Control Systems (INCS). Nowadays, the researches in INCS mainly divide into two parts: the controller design and communication protocol improvement.
The main purpose of this thesis is to propose a new TS fuzzy PID controller which is suitable for the INCS. This controller is composed of the TS fuzzy inference and several PID controllers. First, the universe of discourse for the membership functions is determined by the average and standard deviation of the Round Trip Time (RTT) from actually measuring the network status a priori. Each fuzzy rule equips with a pre-designed PID controller in advance. In control operations, by taking the actual measurement of RTT as input, the mechanism of the TS fuzzy inference engine and defuzzifier are used to conduct a proper control signal. The control signal makes the plant remain the dynamic performance when the RTT varies.
Finally, the TS controller environment is implemented by the BCB software to verify the practicality of the proposed method. The recently proposed Control System Transfer Protocol (CSTP) communication protocol is used. Using DC motor as a testing object, it is seen that the Internet-based networked control system outperforms the conventional PID controller while the T-S PID fuzzy controller is applied.

並列關鍵字

Internet ； Internet-based Networked Control Systems ； TS Fuzzy PID Controller ； Round Trip Time

參考文獻

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[1] J. Postel, “User datagram protocol, ” RFC 768, Aug. 1980.