Please use this identifier to cite or link to this item: `http://hdl.handle.net/11455/2704`
 標題: 一維精密機械系統滯滑摩擦力之模糊控制Fuzzy Control of One-Dimensional Precision Mechanical Systems with Stick-Slip Friction 作者: 郭德明Kuo, Ter-Ming 關鍵字: Fuzzy Control;模糊控制;Stick-Slip Friction;Membership Function;滯滑摩擦;隸屬函數 出版社: 機械工程研究所 摘要: 本研究嘗試將模糊控制理論應用於具有滯滑摩擦之剛性與撓性機械系統中 ，希望系統能有精密的定位與軌跡追蹤性能。模糊控制系統之設計，並不 完全依賴系統之數學模式，而是控制工程師根據其知識經驗及對系統的了 解，設計適當的模糊控制規則以達成控制目的，所以模糊控制極適合於難 以建立正確數學模式，或非常複雜系統之應用。文中首先介紹模糊控制理 論及摩擦力理論，其次，對於在滯滑摩擦影響下的剛性及撓性系統，分別 設計一個兩輸入一輸出及三輸入一輸出的模糊控制器，並適當地選擇隸屬 函數及模糊控制規則，藉以產生一適當之控制量，以完成控制目的。由電 腦模擬結果顯示，本文所提出之模糊控制器，不論在剛性及撓性系統的定 位及軌跡追蹤上，都有很好的性能與精密度。在剛性系統之精密定位方面 ，本文也將模糊控制與傳統之非線性摩擦補償之控制性能作一比較，電腦 模擬結果也顯示出模糊控制的性能較優。This study considers the application of fuzzy control to rigid and flexible mechanical systems with stick-slip friction in order that the systems have precise positioning and trajectory- following performance. The design of a fuzzy control system need not fully rely on the mathematical model of the plant. Usually, control engineers design the fuzzy control rules based only on the heuristic knowledge about the plant. Thus it is very suitable for the control of complex or highly uncertain systems. This thesis first introduces the fuzzy control theory and friction theory, then considers a fuzzy controller with "two input-one output" and "three input-one output" respectively, for the rigid and flexible mechanical systems, and chooses suitably the membership functions and fuzzy control rules for generating the suitable control signals to achieve the control purposes. And the computer simulation results show that the proposed fuzzy controllers have very good performances and precision for the positioning and track- ing of the systems considered. In the precise positioning of rigid systems, this thesis also considers the comparison between the perfor- mances of the fuzzy control strategy and those of the traditional nonlinear friction compensation. The computer simulation results also show that the performances of the fuzzy control case are better. URI: http://hdl.handle.net/11455/2704 Appears in Collections: 機械工程學系所