| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 90 === Servo system is widely applied in producing and manufacturing machines. In order to tackle the unknown disturbance forces during the machining process, adaptive fuzzy control theory is employed in this research to design a servo controller in a digital signal processor (DSP) control kernel.
The adaptive fuzzy controller is first designed based on two fuzzy rules for simplifying the design process. Then according to the specifications of transient and steady state properties, the third and fourth fuzzy rules are inserted to meet the control objective. Adaptive laws are introduced into this fuzzy controller for adjusting these fuzzy rules on-line in order to eliminate the trial-and-error effort for adjusting the fuzzy parameters. These adaptive laws can also enhance the adaptive and robustness of the fuzzy controller to overcome the unknown disturbance forces in servo dynamics system.
Since this adaptive fuzzy controller is designed based on step input response, it has superior control performance in regulation control. For using in tracking control, it needs further modification. Compared with PID controller which the control performance and robustness of the introduced adaptive fuzzy controller are better than that of a PID controller. Experimental results reveal that the introduced adaptive fuzzy controller not only has simple process, but also can effectively overcome the unknown disturbance forces.
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