適應性強健控制器之圖控式人機介面設計與實現

DESIGN AND IMPLEMENTATION OF THE ADAPTIVE AND ROBUST CONTROLLER IN GRAPHICAL USER INTERFACE

許智淵(Chih-Yuan Hsu)

指導教授 ： 黃英哲

元智大學/電機通訊學院/電機工程學系/碩士(2007年)

https://doi.org/10.6838/YZU.2007.00020

摘要

本文提出以順滑模式為基礎之控制器控制行星齒輪倒單擺機構。同時使用模糊類神經網路結構鑑別倒單擺系統穩擺時的狀態，透過與狀態誤差相關之兩組能量函數，逐一調整輸出權重、模糊集合寬度與模糊集合中心，以得到最佳近似倒單擺穩擺狀態之系統模型。此鑑別結果用做調整順滑層寬度與增益值之依據，經模糊類神經網路調整之系統性能較手動調整優越。本文並使用一回授補償器消除外在雜訊所造成的影響，所提出的補償器可消除如地面不平或機械震動所造成的不良響應。此外並撰寫一人機介面，可供使用者選擇由近端或經由網路環境遠端遙控硬體，使控制方式更加多元化。

關鍵字

順滑模式 ； 模糊類神經網路 ； 倒單擺 ； 補償器 ； 圖控式使用者介面

並列摘要

In this paper, a sliding mode control (SMC) is proposed to control an inverted pendulum mechanism (PIP). A fuzzy neural network (FNN) structure is used to identify the PIP system online. The used FNN structure adjusts the link weights, the means, and the standard deviation of Gaussian functions automatically. The object identified includes the nonlinear and unmodeled part of the actual model. The identification is used to adjust the sliding layer and the control gain in the SMC. The result is better with the use of the FNN. Further, a feedback compensator is used to eliminate noise under different environments. The proposed compensator can eliminate some effects such as uneven ground or shock making by the mechanism. The thesis also presents a graphical user interface. This interface is programmed on the internet and/or on the local, letting the remote users control the PIP in versatile ways.

並列關鍵字

sliding mode ； fuzzy neural network ； inverted pendulum ； compensator ； graphical user interface

參考文獻

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