適應性模糊滑動控制法則於壓電驅動X-Y平台之追跡控制研究

Adaptive Fuzzy sliding-mode Controller for the piezo-actuating X-Y Table Tracking Control

梁晶煒(Jin-Wei Liang) ； 陳宏毅(Hung-Yi Chen) ； 褚育廷(Yu-Ting Chu)

《中華民國振動與噪音工程學會論文集》 2008 (2008/05) Pp. 534-540

https://doi.org/10.30028/CSSVANNUAL.200805.0534

摘要

由於壓電致動系統具有磁滯非線性及時變之特性，所以要建立系統確切之數學模式來進行需要數學模式為基礎之控制器設計是不容易的。本研究利用不需系統數學模式之適應性模糊滑動模式控制器來克服這些困難。此控制器具備即時學習之功能以因應系統在控制過程當中非線性時變的特性，本研究利用此控制器對壓電致動X-Y平台進行追跡控制。從實驗的結果可以得知本研究所設計之適應性模糊滑動模式控制器，不論在無外加干擾或具有外加干擾的情況下，均能呈現良好之控制成效，其控制效果均比傳統之滑動模式控制器與模糊控制器具有較佳之追跡性能。

關鍵字

磁滯非線性 ； 適應性模糊滑動控制 ； 壓電致動X-Y平台

並列摘要

Since the piezo-actuating system has hysteresis nonlinearity and time-varying characteristics, it is difficult to establish an accurate dynamic model for designing a model-based controller. Here, a model-free adaptive fuzzy sliding controller, which combines an adaptive rule with fuzzy and sliding-mode control, is employed to overcome the difficulty. The proposed control strategy has online learning ability in response to the system's nonlinear and time-varying behaviors during the control process. Tracking control of a piezo-actuating X-Y table using the proposed algorithm is investigated. Experimental results show that the proposed control scheme has good performances even with the presence of external disturbances. The experimental results are compared with those of a traditional model-based sliding mode controller and a fuzzy logic controller.

並列關鍵字

hysteresis nonlinearity ； adaptive fuzzy sliding-mode control ； piezo-actuating X-Y table