| Summary: | 碩士 === 國立中央大學 === 電機工程研究所 === 89 === In this research, we first provide a fuzzy controller with the grey prediction feedforward compensator to replace the conventional position controller. The grey model has some efficacy in forecasting the overshoot of the response. In order to obtain the accurate prediction, the constant parameter ak of grey model needs to be optimal. Hence, we use a SGA (Simple Genetic Algorithm) to obtain the proper constant ak. Next, the fuzzy controller is presented to solve the speed control problem. The fuzzy speed controller not only maintains the constant speed but also prevents the disturbance. In the implementation process, the design is completed under the windows software. Therefore, it is easy to fix the parameters rapidly and get the fixed sampling time. Then, the discussion of the experimental results is given. Finally, it is found that the performance of both the position control and the speed control of a three-axis robot arm is satisfactory.
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