https://scholars.lib.ntu.edu.tw/handle/123456789/147743
標題: | 應用模糊控制進行液面擾動抑制 Liquid Sloshing Suppression Using Fuzzy Logic Control |
作者: | 洪肇良 Hong, Zhao-Liang |
關鍵字: | 滾珠導螺桿;模糊控制器;液面擾動;摩擦;LuGre模型;ball-screw table;fuzzy controller;liquid sloshing;friction;LuGre model | 公開日期: | 2007 | 摘要: | 在本論文中,使用單擺模型描述液體在方形容器內的震盪行為,並利用一維運動的滾珠導螺桿平台做為液體容器載具,施予控制力量,控制法則採用模糊理論,設計控制規則庫,使液面的波動得到抑制且滑車的位置保持在滑軌中心。本論文採用之模糊控制器可獨立分割為兩部分,分別為位置控制器與液面擾動控制器,其控制法則獨立設計,互不相干,並經由模擬與實驗結果驗證其可行性。 在實作時,由於滾珠導螺桿平台存在不可避免的摩擦行為,會導致控制力量無法正確傳達,影響控制響應,為了得到更好的控制結果,本論文利用LuGre模型描述摩擦行為,並進行補償。 In this thesis, a pendulum-type model is constructed to represent the liquid sloshing behavior in a rectangular container, caused by the motion of a one dimension ball-screw table. A fuzzy rule-based controller is adopted to damp the liquid sloshing and keep the cart near the center of the ball-screw table. In the controller, two fuzzy sub-controllers are designed to respectively control the liquid sloshing and the table displacement, and the sloshing control rules are based on pendulum model. The effectiveness of the adopted method is demonstrated through simulations and experimental results. In the experiment, it is seen that friction exists unavoidably in the ball-screw table. The nonlinear behaviors induced by friction would limit the performance of the system. In order to get a better performance, the LuGre model of friction is used for designing a compensation scheme. |
URI: | http://ntur.lib.ntu.edu.tw//handle/246246/53070 | 其他識別: | zh-TW |
顯示於: | 電機工程學系 |
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ntu-96-R94921070-1.pdf | 23.31 kB | Adobe PDF | 檢視/開啟 |
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