FuzzyControlaSteelBallPositioning-勤益科大机构典藏.PDFVIP

利用模糊理論控制鋼球定位 Using Fuzzy Theorem to Control the Steel Ball Positioning 黃國興(Guo-Shing Huang )、黃思倫(Sy-Ruen Huang)* 董秋溝(Chiou-Kou Tung )、廖凱全(Kai-Chen Liao ) 國立勤益技術學院電子工程系 *逢甲大學電機工程學系 摘 要 本論文主要目的是利用模糊控制演算法來控制直流伺服馬達正、反轉及 轉速帶動一顆鋼球停止在預先設定的位置點上，強調無需複雜的數學模型， 即可達到瞬時精確控制。研究所用的受控體為滾球的位置，利用電位計一導 電橡皮作為系統的回授感測器，由於其為非線性(鋼球位置和感測電壓)且時 變(同一點電壓會有差異)系統，若要以某一數學式來表示，將會非常複雜， 而模糊控制就能依據模糊經驗法則省略此一步驟。經實驗結果，只要適當地 調整模糊控制的參數，就可得到精確的定位，且具有強健性。鋼球定位後受 外力之干擾，而移位驅動伺服馬達即可將之調整回位，成功地完成模糊控制 法則解決鋼球定位問題。 關鍵詞: 模糊控制、歸屬函數、伺服系統 ABSTRACT In this paper, the main purpose is to use the fuzzy control algorithm to control DC servo motor rotation and set a steel ball stop a position on which we default. It is emphasized that using the fuzzy control need not more complex mathematic model and will reach a high accuracy control condition instantaneously. The plant of this research is the position of a steel ball, uses potentiometer--a conductor’s rubber as a feedback sensor of this system. Due to the relation between the position of steel ball and the output voltage of sensor is not linear, and the output voltage is different at the same time, it is a nonlinear, time variant system. It is more complex to describe this system with a mathematic model. So, the fuzzy control does. Through more experiments, the results verify that the system will arrive at a high accuracy positioning and a robustness by adjusting the fuzzy control parameters depending on fuzzy experienced rule. After the steel ball is positioning, its position may be shifted due to an uncertainty disturbance force, drives a servo motor then the steel ball can be