模糊控制理論應用於倒單擺系統之研究

本論文應用模糊邏輯方式設計一模糊控制器，並應用於單軸單連結倒單擺系統。先利用繪製方塊圖的方式在VisSim裡架構出一個傳統的比例積分微分(PID)控制器，並透過線上調整控制參數來控制倒單擺機構。再利用VisSim軟體中的即時控制(real-time control)功能，就是利用C++語言來撰寫實現模糊控制的程式，並將程式連結到VisSim程式庫來取代PID控制器，利用此方法在任何施與此系統外力下，依然可以使單擺快速回復垂直而不倒下。經由實驗之結果來比較PID控制器和模糊控制器在倒單擺系統控制上之優缺點。經由實驗驗證本論文所提出之模糊邏輯控制在不需要事先知道受控系統之動態模式下，系統可以有效地消除單擺振盪現象。

關鍵字

比例積分微分控制；模糊控制；即時控制；倒單擺系統

並列摘要

In this paper, a single axle control system is proposed using the fuzzy logical design method. Using this method, the single axle control system can be designed to achieve recover rapidly as well as stand without dropping down performance. This research is used the software of VisSim® which like as developed tool for controller. First, a traditional PID control rule block was built by VisSim, and use the on-line method to turn the parameters of PID controller to control the inverted pendulum system. Second, by use the VisSim's function of real-time control and link by C++ language, that is, a fuzzy control program can be written by C++ language and instead of PID controller for this system. Due to the experimental results, we can compare the advantages and disadvantages of the PID control and fuzzy control, respectively. The experiments are performed to illustrate the effectiveness of the proposed control system with system dynamic functions that are completely unknown.

並列關鍵字

PID control ； fuzzy control ； real-time control ； inverted pendulum system

國際替代計量

模糊控制理論應用於倒單擺系統之研究

未授權

主題瀏覽