| Summary: | 碩士 === 中原大學 === 電機工程研究所 === 91 === Investigated in this thesis is the feasibility of using Fuzzy Sliding Mode controller (FSMC) for position control of DC brushless rotary Motor. The parameters of DC brushless rotary Motor will change slightly with different input command. And FSMC can achieve good output response even when the plant model has some uncertainty. The structure of the control algorithm in this thesis is to combine fuzzy control with sliding mode control. And in the optimization part of the control algorithm, the 3*3 fuzzy rule base and the gains of the control algorithm are searched simultaneously through adaptive genetic algorithm (AGA), whose adaptive crossover rate and mutation rate can avoid falling into local optimum and speed up the convergence. The simulation part of the control algorithm design is done through the software of Matlab/Simulink. As for the experiment part, we use the DC brushless rotary Motor, power amplifier and TI DSP (TMS320 F243) controller supported by Juniortek to verify and improve the feasibility of controller. The results show that, FSMC is highly robust even when the plant model has some uncertainty, and the optimal FSMC designed by AGA can track position command rapidly.
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