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    Please use this identifier to cite or link to this item: http://ir.lib.ksu.edu.tw/handle/987654321/18304

    Title: 旋轉型倒單擺之複合式模糊控制
    Other Titles: Composite Fuzzy Control of Rotary Inverted Pendulum
    Authors: 賴一賢
    Lai, Yi-Hsien
    advisor: 李振興
    Keywords: 旋轉型倒單擺;垂直式倒單擺;平行式倒單擺;複合式模糊控制
    Rotary inverted pendulum;Vertical type;Parallel type;Composite fuzzy control
    Date: 2012
    Issue Date: 2013-02-27 14:48:52 (UTC+8)
    Abstract: 本論文研究以數位信號處理器為核心的旋轉型倒單擺控制,分為平行式旋轉型倒單擺與垂直式旋轉型倒單擺,主要探討保持倒單擺平衡豎立的方法。旋轉型倒單擺系統本質上是非線性且不穩定的,因此常被用來驗證非線性控制領域中許多控制理論,現今旋轉型倒單擺系統是一個適當的控制教育工具。
    The objective of this thesis is to investigate the balance control of a rotary inverted pendulum. The controller is a digital signal processor (DSP). There are two types of a rotary inverted pendulum (RIP), they are the vertical type RIP and the parallel type RIP. The RIP system is essentially nonlinear and unstable, it is often used to verify many control theory in the field of nonlinear control today. The RIP system is an appropriate control of the educational tool.
    In this thesis, the composite fuzzy control (CFC) method is proposed to balance and stabilize the RIP system. This method is to take fuzzy PD controls of the drive arm and rotary arm. Then take the fuzzy computation of these two controls finally. By analysis, CFC method is essentially the state feedback control. Hence, the stability is guaranteed in the matter of the state feedback control.
    Fuzzy control continues to be developed over the four decades, because it both excellent robustness for nonlinear and unstable system, and eliminate disturbances. Hence, fuzzy control is a useful control tool. In this thesis, the CFC is proposed and adapted in the RIP system. This method is simple and systematic to stabilize the RIP system. Finally, experiment results are demonstrated the proposed scheme.
    Appears in Collections:[Graduate School and Department of Electrical Engineering] Dissertations and Theses

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