A Study of an Inverted Pendulum Use Pneumatic Servo Control
碩士 === 華梵大學 === 機電工程研究所 === 91 === As a result of the compressibility of air, the parameters in the pneumatic servo system change with temperature、pressure、friction and leakage. The system is not only a nonlinear system, but also exist uncertainties in the mathematical model. Recently, fuzzy logic c...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2003
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| Online Access: | http://ndltd.ncl.edu.tw/handle/94543743386761385474 |
| Summary: | 碩士 === 華梵大學 === 機電工程研究所 === 91 === As a result of the compressibility of air, the parameters in the pneumatic servo system change with temperature、pressure、friction and leakage. The system is not only a nonlinear system, but also exist uncertainties in the mathematical model. Recently, fuzzy logic control has been developed to solve complex problem. This paper proposes a genetic algorithm (GA) approach to design a fuzzy logic controller for an inverted pendulum system. It adopts the genetic algorithm method to design the parameter in fuzzy controller. This can get rid of the tuning of trial and error approach.
The subject of this study is to stable a swing-up inverted pendulum with pneumatic servo control. For increase the stability and miniaturize the system, the research will build in an embedded system which include DSP and FPGA. We will use linear scale and optical encoder as elements to build a pneumatic inverted pendulum system. Furthermore, we will use the cheaper high-speed solenoid valve which combines PWM method to control the system. The main purpose of this paper is to integrate technologies of pneumatic servo inverted pendulum system and embedded system. The technology will assist automated industry during design.
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