| Summary: | 碩士 === 國立雲林科技大學 === 電機工程系 === 105 === Many high-load stages adopt gantry architectures to improve the single-axial driving force in different industry applications. Due to some possible effect such as unknown disturbance, mechanical coupling force, or unmatched system model, it is difficult to obtain the precision of synchronous control using the conventional PI control method with parallel architecture. It is an important issue to find a way to drive the stage to achieve a synchronous motion effectively and precisely. In this thesis, the fuzzy-PI controller structure is proposed for precision trajectory tracking control in synchronized XY motion gantry stage system. The controller parameters are searched using three algorithms, i.e., (1) particle swarm optimization (PSO), (2) artificial bee colony algorithm(ABC), and (c) cross-mixing global artificial bee colony algorithm(CGABC). The three algorithms search the optimized parameters based on the integral of the time-weighted absolute error (ITAE) criterion. MATLAB system identification tool is used to find the transfer function of the system according to the superposition theorem. CGABC can not only get converge in a short time ,but avoid solution easy to fall into the local optimal in the searching process. The simulation results and experimental results on square, triangle, star and circle reference contours are presented to show that the proposed CGABC-based fuzzy PI controller indeed accomplish the better the tracking performances with regard to model uncertainties. The fuzzy-pi controller can offer better tracking performances in term of average tracking error and tracking error standard deviation.
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