智慧型控制在線性超音波馬達之應用 陳維榮、陳昭雄
E-mail: 319728@mail.dyu.edu.tw
摘 要
本論文主要是發展ㄧ T-型自我組織-反覆式類神經模糊網路(Takagi-Sugeno-Kang-Type Self-Organizing Recurrent Neural Fuzzy Network；T-SORNFN)控制系統於線性超音波馬達軌跡跟隨。首先，透過網路結構與參數的調整法則訓
練T-SORNFN 學習超音波馬達 的逆向動態(Inverse Dynamics)。在T-SORNFN 中的模糊規則可以任意的增加或刪除，以獲 得適當的大小的網路結構，並利用監督式 的梯度下降法推導網路參數的調整法則以加速網路的收斂。另外，推導一變動的 學習率以確保網路學習的收斂。再者，一結合 T-SORNFN 和PD 控制器的逆向動態控制系統被發展來控制線性超音波馬達 於變動的環境，並且利用遞迴式最小平方法(Recursive Least-squares)來線上調整網路的輸出權重值，以獲得更精密的近似效 果。硬體方面，以個人電腦為基礎，並結合仿真公司的MRC-6810 伺服控制卡、AB1A 驅動器、並應用Visual C++軟體撰 寫程式，最後透過實驗平台，來驗證本論文所提方法的有效性。
關鍵詞 : 反覆式類神經模糊網路，線性超音波馬達，李阿普諾夫穩定法則，遞歸式最小平方法。
目錄
封面內頁 簽名頁 授權書...iii 中文摘
要...iv 英文摘要...
v 致謝...vi 目 錄...vii 圖目 錄...ix 表目 錄...xi 第一章 緒
論... 1 1.1 研究動機... 1 1.2 研究 目的... 2 1.3 文獻回顧... 2 1.4 論文架 構... 6 第二章 線性超音波馬達驅動系統... 7 2.1 線性 超音波馬達系統架構... 7 2.2 線性超音波馬達的種類... 14 2.3 線性超音 波馬達的架構... 15 第三章 線性超音波馬達數學模型... 17 3.1 線性超 音波馬達的作動方式... 17 3.2 線性超音波馬達工作原理和數學模型... 19 第四章 類神經 模糊網路控制系統... 27 4.1 類神經模糊網路系統介紹... 27 4.2 T-型反 覆式類神經模糊網路的結構... 27 4.3 T-型反覆式類神經模糊網路控制器和學習運算法則 .………
……….………..31 4.3.1 結構學習法則………...33 4.3.2 參數學習法則…………
………...35 4.3.3 T-型反覆式類神經模糊網路的收斂性分析……...38 4.4 線上自適應T-型反覆式類神經模糊 網路的控制系統 ………….. ... 41 第五章 模擬實驗與結
果... 43 5.1 線性超音波馬達驅動系統的實驗平台... 43 5.2 線性超音波馬達 逆向動態建模... 44 5.3 控制系統模擬... 45 5.3.1 CASE1 的模擬結 果... 48 5.3.2 CASE2 的模擬結果... 53 5.3.3 CASE3 的模擬結
果... 58 5.4 控制系統實驗... 63 5.4.1 CASE1 的實驗結 果... 63 5.4.2 CASE2 的實驗結果... 68 第六章 結論與未來展 望... 73 參考文獻... 74 參考文獻
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