Application of Hybrid Intelligent Control to TRMS

• Main Authors: Yi-Cheng Lu, 呂佾橙
• Other Authors: Jih-Gau Juang
• Format: Others
• Language: en_US
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/41023339770365070066

碩士 === 國立臺灣海洋大學 === 通訊與導航工程系 === 96 === In this thesis, a hybrid intelligent control is applied to an experimental propeller setup that is called the twin rotor multi-input multi-output system (TRMS) in setpoint control and trajectory tracking. 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. The control structure contains four fuzzy compensators and four PID controllers with independent inputs. All of the parameters in controller structure are tuned by a modified ant colony system (ACS) algorithm with system performance index as fitness function. This algorithm imitates the nature ant that utilizes the behavior of colony cooperation to look for the food. The ant will deposit pheromones on their route, they utilize this ability to find the shortest path between their nest and a food source. In this thesis, internal type-2 fuzzy logic system is used to replace conventional fuzzy logic system. Fuzzy set theory was first introduced to public by Zadeh in 1965, it can be called the type-1 fuzzy system. The concept of the type-2 fuzzy set is the extension principle of the generally fuzzy set. Computer simulations show that the proposed approach to the TRMS control problem can improve the tracking performance. For real-time control, we use HCTL2016 chip to catch position signal, and Xilinx Virtex-II XC2V250 FPGA is employed to construct a hardware-in-the-loop system. A linear-like digital controller in coupled condition is built through writing VHDL on this FPGA. Performance of the hardware controller is demonstrated by real-time experiments.