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研究生：	楊建宏
論文名稱：	適應性倒階類神經濾波控制器與其在伺服馬達控制上之應用 Adaptive Backstepping Neural Network Controller with filters and its Applications in Server Motors
指導教授：	呂藝光
學位類別：	碩士 Master
系所名稱：	工業教育學系 Department of Industrial Education
論文出版年：	2009
畢業學年度：	97
語文別：	中文
論文頁數：	87
中文關鍵詞：	類神經網路、適應控制、倒階控制(Backstepping) 、濾波器、直流伺服馬達
英文關鍵詞：	Neural networks, adaptive control, backstepping control, filters, DC servo motors
論文種類：	學術論文
相關次數：	點閱：341 下載：20
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本論文針對一未知非線性控制系統，提出一個以輻狀基底函數(radial basis functions )類神經網路(neural networks)的適應性倒階(Backstepping)控制器。在適應性倒階控制器設計中，將使用輻狀基底函數類神經網路近似未知非線性函數。一般的倒階控制器設計過程中，必須要對虛擬控制輸入微分，因而導致輻狀基底函數類神經網路在近似過程中需要執行多次微分運算。因此，為了避免輻狀基底函數類神經網路在適應性倒階控制器設計中需多次微分，本論文使用濾波器取代微分運算，以減少計算複雜度。此外，藉由李亞普諾夫函數分析整體閉迴路系統的穩定度。
最後，本文利用數個電腦模擬範例和直流伺服馬達實驗來驗証所提出方法效能與應用性，其中直流伺服馬達實驗包括具有正負電壓輸出之切換式直流電壓轉換電路設計、電壓回授電路設計與脈波寬度調變(Pulse Width Modulation)控制器設計等。

In this thesis, a radial basis function (RBF) neural adaptive backstepping controller for a class of nonlinear system with unknown nonlinearities is proposed. In backstepping design procedure, the RBF neural networks are used to approximate unknown nonlinear functions. In general, based on backstepping design technique, virtual controls must be differentiated. For this reason, differentiating the RBF neural networks is required. In order to avoid the requirement of the nth derivative of the RBF neural networks, first-order filters are added into backstepping design such that the computation burden can
be effectively alleviated. In addition, the stability of the closed-loop system with first-order filters is analyzed by Lyapunov functions.
Finally, simulation results and experiment results are provided to demonstrate the effectiveness and applicability of the proposed method. The experiment is composed of a DC servo motor, a switch DC-DC converter, voltage feedback circuits, and PWM (Pulse Width Modulation) controller.

目錄
中文摘要..............................................................................................................I
英文摘要.............................................................................................................II
謝誌...................................................................................................................III
目錄...................................................................................................................IV
圖目錄..............................................................................................................VII
表目錄................................................................................................................X

第一章 緒論.......................................................................................................1
1 前言........................................................................................................1
2 研究動機及目的....................................................................................2
3 論文架構................................................................................................3
第二章 類神經網路...........................................................................................5
1 介簡........................................................................................................5
2 ANNs基本架構......................................................................................5
3 ANNs的學習演算法..............................................................................6
3.1 赫賓學習演算法(Hebbian learning rule) .....................................8
3.2 錯誤更正演算法............................................................................9
3.3 Windrow-Hoff 學習演算法.........................................................10
4 RBF中心點選取法................................................................................11
4.1 隨機選取法..................................................................................12
5 RBF學習演算法...................................................................................12
5.1 序率坡降法..................................................................................13
6 應用範例...............................................................................................14
7 結論.......................................................................................................17
第三章 設計輻狀基底函數類神經網路適應性倒階控制器.........................19
1 簡介......................................................................................................19
2 已知函數的倒階控制器設計介紹......................................................20
3 未知函數的倒階控制器設計介紹......................................................23
4 模擬及結論...........................................................................................34
4.1 模擬..............................................................................................34
4.2 結論..............................................................................................36
第四章 雙向切換式直流電轉換器設計.........................................................37
1 簡介......................................................................................................37
2 直流電壓轉換器的種類......................................................................37
3 降壓式直流電壓轉換器原理..............................................................39
3.1 連續導通模式.............................................................................40
3.2 不連續導通模式.........................................................................44
4 直流電壓轉換器的控制概念..............................................................45
5 直流電壓轉換器的設計......................................................................46
6 直流電壓轉換器的操作......................................................................48
6.1 如何產生PWM訊號.................................................................49
6.2 如何切換正負電壓.....................................................................50
7 結論......................................................................................................50
第五章 硬體架構介紹.....................................................................................51
1 簡介......................................................................................................51
2 DC伺服馬達介紹.................................................................................51
3 DC伺服馬達數學動態系統的介紹.....................................................52
4 硬體架構操作介紹..............................................................................54
4.1 迴授電路介紹.............................................................................54
4.2 馬達驅動介紹.............................................................................58
5 結論......................................................................................................59
第六章 模擬與實驗.........................................................................................60
1 簡介......................................................................................................60
2 控制器的設計......................................................................................60
2 模擬結果..............................................................................................61
3 實驗結果..............................................................................................67
3.1無負載測試…...…………...……………………….…..…….…67
3.2有負載測試……………………………….……………….....…75
4 結論......................................................................................................83
第七章 結論及未來展望.................................................................................84
1 結論......................................................................................................84
2 未來展望..............................................................................................84
參考文獻...........................................................................................................85
                                

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