| Summary: | 碩士 === 中華大學 === 機械與航太工程研究所 === 89 === The purpose of this thesis is to design a self-tuning PID controller for the stepping linear motor. We compare it to the traditional PID controller, which had been used widely in the industry. It is time-consuming and not easy to tune the PID gain parameters by trial and error, so it must rely upon the experiences of the professional engineers to adjust the gain parameters. In this paper, we adopt a wavelet neural network self-tuning PID controller which possesses the capability of fast response and self-learning ability. This controller will be applied to the linear motor platform system which payload has been changed very fast .
With the upgraded concept and mature technology of virtual reality, we design 3D models and dynamic modules of the scene by the NeMo software develop tool, which describes clearly within the thesis. And we integrate the VR scene and the 6-axes linear motor platform system. It can simulate the environment of the tank tower shooting training instead of training in a spot.
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