臺灣博碩士論文加值系統

現今混合控制器的運用種類繁多且逐漸趨於成熟穩定，所以本論文將研究混合
控制器的組成與應用。研究中所組成的基本架構為自調式滑動模糊控制器(Sliding
Mode Fuzzy Control;SMFC)結合PID 控制器，兩者結合方式為乘法型和加法型，並
應用於線性系統、非線性系統及延時系統上，進而達到控制的強健性。在文中提到
的滑動模糊控制之最佳化，是將模糊規則庫的死域部分以滑動控制作即時自我調
整。PI 控制器之最佳化則是以基因演算法(Genetic Algorithm;GA)進行參數搜尋工
作。最後利用直流電源轉換器、倒單擺系統及一階延時系統作受控系統，再經由模
擬作控制效能的分析比較。證明本文所提出的加法型混合控制器在線性系統、非線
性系統及延時系統的控制效能性都優於單一自調式滑動模糊控制器。

Currently, there are many application types for hybrid controllers, which are
gradually becoming mature and stable. This thesis will investigate the composition and
applications of hybrid controllers. The basic structure is the self-tuning sliding mode
fuzzy controller combined with a PID controller. The combination of the two is through
multiplication and addition, and applied to linear and non-linear systems so that the
controller can achieve robustness of systems. The optimization of the sliding mode
fuzzy controller mentioned in this thesis uses sliding mold control to perform real-time
self-tuning on the dead zone in the fuzzy rule-base. The optimization of the PI
controller is achieved through a genetic algorithm to perform parameter searches.
Finally, we use a DC to DC Buck converter and a car-inverted-pendulum as the
controlled systems, and simulate and compare control performance through simulation
to prove that the control performance of the addition-type hybrid controller on linear
and non-linear systems is superior to the self-tuning sliding mode fuzzy controller .

中文摘要............................................................ i
英文摘要........................................................... ii
誌謝.............................................................. iii
目錄............................................................... iv
表目錄............................................................ vii
圖目錄........................................................... viii
第一章、緒論........................................................ 1
1.1 研究背景與動機................................................... 1
1.2 研究目的........................................................ 2
1.3 文獻回顧........................................................ 3
1.4 論文之貢獻...................................................... 4
1.5 論文之架構...................................................... 5
第二章、控制原理與架構................................................ 7
2.1 前言............................................................ 7
2.2 滑動模式原理..................................................... 7
2.3 滑動控制架構.................................................... 9
2.3.1 切換控制架構...................................................11
2.3.2 自調式滑動控制.................................................13
2.4 模糊控制理論.................................................... 14
2.5 模糊控制器架構.................................................. 15
2.5.1 模糊化(Fuzzication)...........................................15
2.5.2 規則庫(Rule Base).............................................16
2.5.3 資料庫(Data Base).............................................17
2.5.4 推論機構(Inference Engine)....................................19
2.5.5 解模糊化(Defuzzification) ....................................21
2.6 滑動模糊控制架構................................................ 24
2.6 PID 控制架構................................................... 29
2.7 本章結論....................................................... 30
第三章、傳統混合控制器............................................... 31
3.1 前言........................................................... 31
3.2 滑動模糊控制器設計............................................... 31
3.2.1 固定式與自調式SMFC ............................................32
3.3 SMFC 穩定度分析................................................. 37
3.3.1 線性系統穩定度.................................................38
3.3.2 非線性系統穩定度...............................................39
3.4 PID 控制器設計.................................................. 40
3.5 乘法型混合控制器(Hybrid Controller with multiplication)設計.......42
3.6 加法型混合控制器(Hybrid Controller with addition)設計............ 45
3.7 本章結論....................................................... 47
第四章、新穎混合控制器............................................... 48
4.1 前言........................................................... 48
4.2 基因演算之理論.................................................. 48
4.2.1 編碼(Encoding)................................................50
4.2.2 適應函數(Fitness Function)....................................50
4.2.3 複製(Reproduction) ...........................................50
4.2.4 交配(Crossover) ..............................................51
4.2.5 突變(Mutation)................................................53
4.3 基因演算之探討.................................................. 53
4.4 GA 設計PI控制器................................................. 58
4.4.1 選取一個ωA、mφ和a點............................................60
4.4.2 PI控制之模擬結果...............................................60
4.5 新穎混合控制器設計............................................... 62
4.6 本章結論....................................................... 67
第五章、結論........................................................ 68
5.1 本文總結....................................................... 68
5.2 未來展望....................................................... 68
參考資料........................................................... 69
簡歷............................................................... 72

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