Design and Application of Intelligent Controllers for the Brushless Servo Mechanism
| Autor: | Bing-xuan Wu, 吳秉軒 |
|---|---|
| Rok vydání: | 2008 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 96 The main purpose of this thesis is to control a brushless servo system. In the control system, the so-called “Sliding Mode Repetitive Learning Control Based on Integral Sliding Mode Perturbation Observer, SMRLC-ISMPO” is applied to the brushless servo system with a four-bar linkage. It is designed to compensate for the periodic disturbance of the plant. It is also applied for the servo system to have superior robustness and fast convergence rate. In the repetitive learning controller, low-pass filters with phase lag are ususlly employed, which may deteriorate the efficiency of the controller. This paper uses two other methods rather than general low-pass filters: 1) Fourier Series; 2) Discrete Wavelet Transform. These two methods are well-known in the field of signal process and analysis. Since both of them have their own merits, this thesis compares their applications to the repetitive learning control. Besides the repetitive learning control, this paper also brings up “Self-Organizing Fuzzy Compensator”. This compensator can tune weights in a knowledge base online. It is integrated with an “Integral Sliding-Mode Disturbance Observer” to achieve good disturbance compensation. In the experimental setup, we utilized TI’s TMS320C6711 DSP with a FPGA as our control kernel. Moreover, we establish an interface to a shaft encoder and DACs using hardware description language (VHDL). The programs for implementing control laws are written in C/C++ language. The experimental results demonstrate the effectiveness of the presented schemes. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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