Applications of Hybrid Fuzzy-GA Controller and FPGA Chip to TRMS

• Main Authors: Wen-Kai Liu, 劉文楷
• Other Authors: Jih-Gau Juang
• Format: Others
• Language: en_US
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/17580925907760345830

碩士 === 國立臺灣海洋大學 === 導航與通訊系 === 93 === This thesis presents a new approach based on PID controller and Fuzzy compensator to an experimental propeller setup that is called the twin rotor multi-input multi-output system (TRMS). The goal of control is to stabilize the TRMS in significant cross coupling condition and to reach desired set-point and trajectory efficiently. The control scheme includes four Fuzzy compensators and four PID controllers with independent inputs. In order to reduce total error and control energy, all parameters of the controllers are obtained by real-type genetic algorithm (RGA) with system performance index as fitness function. The system performance index applies the integral of time multiplied by the square error criterion (ITSE) to build a suitable fitness function in RGA. We also investigate a new method for RGA to solve control parameters. This new method leads chromosomes in RGA to converge to optimal solutions in complicated hyperplan more quickly. Computer simulations show that the proposed control scheme can overcome system nonlinearities and influence between two rotors successfully. For real-time control, the Xilinx Spartan II SP200 FPGA (Field Programmable Gate Array) is employed to construct a hardware-in-the-loop system. We built a linear-like fuzzy PID controller in coupled condition through writing VHDL on this FPGA. Performance of the hardware controller is demonstrated by real-time experiments.