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研究生： 許安仁
An-Jan Hsu
論文名稱： 自調式類神經PID控制於超音波馬達之應用
指導教授： 莊漢東
Han-tung Chuang
口試委員:
學位類別： 碩士
Master
系所名稱： 工學院 - 機械工程學系
Department of Mechanical Engineering
畢業學年度： 88
語文別： 中文
論文頁數： 68
中文關鍵詞： 自調式PID控制 、類神經網路 、系統鑑別 、超音波馬達
外文關鍵詞： self-tuning PID control, neural network, system identification, ultrasonic motor
相關次數： 點閱：22  下載：0 
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    • 　　PID控制器是目前產業界應用最多的控制器，但其控制器參數調整不易，大多依賴專家調整，非常不便。本文提出一個自調式類神經PID控制架構，應用倒傳遞類神經網路理論，對於系統模型參數未知的情況下，使用兩個類神經網路分別進行系統鑑別與PID控制器參數調整。由電腦模擬結果可知，本控制架構能在很短的時間內調整出極佳的控制器參數。最後將此控制架構實際應用於超音波馬達位置控制上，實驗結果則顯示，本控制架構確實可以在實際控制應用上實現，其調整結果亦相當快速良好。


    　　This thesis presents a self-tuning PID controller based on the neural network theories. There are two multilayer neural networks within the self-tuning PID controller, one for system identification for unknown controlled systems, and the other for the PID gains determination. Back-propagation method is adopted to perform both the neural networks training.
    　　The results of computer simulation show that the neural based PID control scheme can tune suitable PID gains within a short period. In addition, the controller was implemented to the position control of an ultrasonic motor. The experimental results have shown that the control scheme is also practically successful.

    中文摘要............................I Abstract...........................II 致　謝............................III 目　錄.............................IV 圖目錄.............................VI 第一章 緒論.......................1 1.1 研究動機...................1 1.2 研究方法...................2 1.3 文獻回顧...................3 1.4 論文大綱...................4 第二章 類神經網路與控制理論.......6 2.1 類神經網路理論.............6 2.1.1 神經元的模型...............6 2.1.2 類神經網路的連接方式......12 2.1.3 類神經網路的學習與回想....13 2.1.4 倒傳遞類神經網路..........14 2.2 類神經網路控制架構........20 2.2.1 串列控制架構..............21 2.2.2 平行類神經網路控制架構....23 2.2.3 自調式類神經PID控制架構...24 2.3 PID控制理論...............25 第三章 自調式類神經PID控制器.....29 3.1 前言......................29 3.2 系統鑑別網路..............30 3.2.1 系統特性..................30 3.2.2 鑑別方法..................33 3.2.3 系統鑑別網路設定..........35 3.3 PID參數自調類神經網路.....38 第四章 電腦模擬與實作結果........42 4.1 電腦模擬與結果............42 4.1.1 系統鑑別..................44 4.1.2 自調式PID控制器...........47 4.1.3 模擬結果討論..............49 4.2 實作與結果................50 4.2.1 超音波馬達簡介............50 4.2.2 實驗架構..................51 4.2.3 系統鑑別..................55 4.2.4 自調式PID控制器...........59 4.2.5 實作結果討論..............61 第五章 結論與展望................63 5.1 結論......................63 5.2 未來展望..................64 參考文獻...........................65

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