| Summary: | 碩士 === 國立海洋大學 === 導航與通訊系碩士班 === 91 === In this thesis, we investigate a control problem involving an experimental propeller setup that called the twin rotor multi-input multi-output system (TRMS). The control objective is to make the beam of the TRMS move quickly and accurately to the desired attitudes, both the pitch angle and the azimuth angle . Because the inherent nonlinearity between the input control voltage and the output dynamic force of the TRMS, complete mathematical functions of the control system can hardly be described. It remains a challenging nonlinear control problem. In this thesis we proposed a PID controller and a fuzzy controller, which are combined with Real-parameter Genetic Algorithms (RGA). We apply the principles and operations of the RGA via the process of reproduction, crossover and mutation to search the parameters of the controller. The strict model of mathematics is needless in this thesis without respect to the searching parameters of controller which is applied RGA, or the structure of controller which is applied fuzzy controller. For this reason the design process is more concise and the controller is more robust to the traditional controller. The structure of software and hardware is to employ Matlab Simulink, VisSim, and I/O card, which can construct software simulation and PC-based control system. We also utilize a fuzzy logic system which is made by the TQ Ltd as the controller. It was connected through a simple linear voltage converting circuit to the TRMS in addition. Computer simulations and experimental results show that the proposed RGA/PID controller and RGA/fuzzy controller can improve the positioning and trajectory tracking performances of the TRMS.
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