適應性比例積分微分控制器設計用於非線性混沌系統

Adaptive PID Controller Design for Nonlinear Chaotic Systems

陳明照(Ming-Chao Chen)

指導教授 ： 林志民

元智大學/電機通訊學院/電機工程學系/碩士(2008年)

https://doi.org/10.6838/YZU.2008.00073

摘要

本論文主旨在探討強健型適應性比例-積分-微分控制器的控制方法，以解決不確定性混沌系統追蹤控制的問題。在這篇論文中，首先利用滑動模式控制方法，針對一個多輸入多輸出的系統來作控制，最後控制的結果雖然可以達到我們預期的控制目標，但是還不算理想；所以又設計了一個強健型適應性比例積分微分控制器來模擬一個近似理想的控制器，其控制增益KP，KI，KD是可以調整之參數，並可以在線上更新的一個適應機制，用來使之前設計的順滑條件減至最小的程度。一個理想的控制器必定存在一個近似誤差，所以需要再加上一個監督式控制器來當作系統的補償控制器用，以減少系統的近似誤差。最後本論文所提出的控制方法--強健型適應性比例積分微分控制器應用在一個蔡式混沌電子電路的系統上，模擬結果均能達到令人滿意的控制效果。

關鍵字

強健型適應性比例積分微分控制 ； 混沌系統 ； 滑動模式

並列摘要

The subject of this thesis is to design a robust adaptive Proportional-Integral-Derivative (PID) controller to deal with an uncertainty chaotic system tracking control. In this thesis, we first use sliding mode control method to control a multi-input multi-output system. Although the sliding mode control can achieve the final control results; it is far from ideal. Thus, we design an adaptive robust PID controller to mimic an ideal controller. The control gains KP, KI, KD of PID controller are adjustable parameters which can be updated online with an adequate adaptation mechanism to optimize the previously designed sliding condition. A nearly ideal controller surely can not eliminate an approximate error, thus a supervisory controller is necessarily added as a system compensated controller to reduce the approximate error. Finally, we applied the proposed control technique to a Chua’s chaotic circuit system. From the simulation results show the satisfactory control performance.

並列關鍵字

robust adaptive Proportional-Integral-Derivative controller ； PID ； sliding mode control

參考文獻

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