한국해양대학교

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퍼지 PID 제어기의 성능개선과 비선형 유압실린더 위치제어에의 응용

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dc.contributor.author 朴長浩 -
dc.date.accessioned 2017-02-22T07:12:26Z -
dc.date.available 2017-02-22T07:12:26Z -
dc.date.issued 2002 -
dc.date.submitted 56797-10-27 -
dc.identifier.uri http://kmou.dcollection.net/jsp/common/DcLoOrgPer.jsp?sItemId=000002174046 ko_KR
dc.identifier.uri http://repository.kmou.ac.kr/handle/2014.oak/10444 -
dc.description.abstract In order to derive a new fuzzy controller, a fixed design-parameter fuzzy PID controller was surveyed in view of deriving a control law based on the design procedure of general fuzzy logic controllers. The controller is known to be very useful to control unknown nonlinear systems because it has nonlinear time-varying PID controller gains. While it has advantages that the resultant form of the controller is an analytical mathematical form and fuzzy rules are so simple, it also has a disadvantage that the PID control action is not applied at all or cannot be accurately applied when operating inputs are greater than or smaller than the reference input used to decide design-parameters in initial controller design procedure. In this paper, in order to improve the disadvantage of the fixed design-parameter fuzzy PID controller, a new fuzzy PID controller named a variable design-parameter fuzzy PID controller was suggested. The main characteristic of the controller is to adjust design-parameters of the controller by comparing magnitudes between fuzzy controller inputs at each sampling time when controller inputs are measured. As a result, all fuzzy input partitions converge within a time-varying normalization parameter and the resultant PID control action can always be applied precisely regardless of operating input magnitudes. In order to verify the effectiveness of the suggested controller, several computer simulations were executed for example mathematical systems such as a linear system and a nonlinear system. And another simulations were executed for a hydraulic position control system which is one of the typical nonlinear systems in the real field. The output of the suggested control system was compared with the outputs of linear PID and the fixed design-parameter fuzzy PID control system for several reference inputs. In the conclusion, the variable design-parameter fuzzy PID controller was assured to be a very effective and useful method to control unknown nonlinear systems from the simulation results. -
dc.description.tableofcontents 목차 Abstract 제 1 장 서론 = 1 제 2 장 고정 설계파라미터 비선형 퍼지 PID 제어기 = 3 2..1 개요 = 3 2.2 고정 설계파라미터 비선형 퍼지 PID 제어기의 구성 = 4 2.2.1 제어기의 기본구조 = 4 2.2.2 퍼지화 알고리즘 = 6 2.2.3 피지 제어규칙 = 8 2.2.4 비퍼지화 알고리즘 = 11 2.2.5 제어기의 특징 및 설계절차 = 14 제 3 장 가변 설계파라미터 비선형 퍼지 PID 제어기의 제안 = 18 3.1 고정 설계파라미터 퍼지 PID 제어기의 단점 = 19 3.1.1 작동범위에 따른 퍼지 PID 제어동작의 효능저하 = 19 3.1.2 설계시 퍼지 P, I, D 제어동작 사이의 불균형성 = 19 3.1.3 고정 설계파라미터 비선형 퍼지 PID 제어기의 성능개선 방법 = 20 3.2 가변 설계파라미터 비선형 퍼지 PID 제어기 = 22 3.2.1 작동범위에 무관한 퍼지 PID 제어동작의 적용성 입증 = 22 3.2.2 가변 설계파라미터 비선형 퍼지 PID 제어기의 구조 및 설계절차 = 24 제 4 장 컴퓨터 시뮬레이션 및 결과 고찰 = 29 4.1 선형 시스템에 대한 적용 = 29 4.2 비선형 시스템에 대한 적용 = 34 제 5 장 비선형 유압시스템의 위치제어 문제에 적용 = 40 5.1 개요 = 40 5.2 유압시스템의 구성 = 41 5.3 유압시스템의 비선형 수학모델 = 43 5.3.1 전자비례제어밸브 = 44 5.3.2 편로드 실린더 = 44 5.3.3 부하구동부 = 52 5.3.4 밸브-실린더-부하시스템의 동적 방정식 = 53 5.4 시뮬레이션 및 결과 고찰 = 55 제 6 장 결론 = 62 참고 문헌 -
dc.publisher 한국해양대학교 -
dc.title 퍼지 PID 제어기의 성능개선과 비선형 유압실린더 위치제어에의 응용 -
dc.title.alternative Performance Improvement of a Fuzzy PID Controller and Its Application to the Position Control of Nonlinear Hydraulic Cylinders -
dc.type Thesis -
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