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研究生：	薛尤榮 Yu-Rong Hsieh
論文名稱：	整合型間時雙滑動模式控制器之研製 Development of Integrated Discrete Twin Sliding Mode Controller
指導教授：	洪欽銘 Hong, Chin-Ming
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：	2000
畢業學年度：	88
語文別：	英文
論文頁數：	70
中文關鍵詞：	間時雙滑動模式、灰差分預測、直流伺服電動機遠距實驗
英文關鍵詞：	Discrete twin sliding mode, Difference equation grey prediction, Remote DC servo motor control
論文種類：	學術論文
相關次數：	點閱：200 下載：3
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本研究提出一套結合傳統模糊控制器與灰色預測之整合型間時雙滑動模式控制器設計法則。由於傳統滑動模式控制器到達模式很有可能受系統參數變動及外部干擾等影響，為解決這個問題，規劃第二條滑動線，使到達模式的相位軌跡受系統參數變動及外部干擾影響的程度降低；第二滑動面的模糊化，使得控制系統的動態行為由模糊滑動面近似決定之。再者，對於系統之不明確性，模糊控制不須了解系統的數學模式即可獲得良好的控制性能，降低顫動現象；研究中以一二階線性常係數差分方程式作灰色預測建模，預測第二滑動相位軌跡的態勢，並根據預測狀態點，經模糊推論後提供一到達模式控制修正律當作受控體的輸入，以改善雙滑動模式之時域響應。
本研究以兩種不同受控系統作為模擬的對象進行比較討論，並透過網際網路，實際應用於遠距直流伺服電動機之速度控制，操作者不需要親自操作電動機實驗平台，即可透過網際網路來進行電動機遠距實驗，使得控制系統之實用性得到驗證。

In this study, a new method combines conventional fuzzy logic control (FLC) and difference equation grey prediction to design an integrated discrete twin sliding mode controller (IDTSMC). Due to the reaching mode of conventional sliding mode controller (SMC) is sensitive to parameter variation and external disturbance, the researcher alleviates the sensitivity by modeling the discrete second sliding line to overcome this problem. Fuzzifying the second sliding surface, all the dynamic motion of control system is decided by the modeling fuzzy sliding function. Furthermore, due to the uncertainties of system, the FLC can obtain good control performance without any mathematical operating and attenuate the chattering phenomenon. A homogeneous second order linear difference equation with constant coefficients is presented to build a grey prediction model (DGM). DGM forecasts the future development of phase portrait of second sliding mode. According to the forecasting representative point (RP), it applies a modifying of reaching mode control law to the input of plant after RP fuzzy inference procedure and improves time response of DTSMC.
For the purpose of comparing the performance of the controllers in this study, two different plants will be applied by software simulation. In addition, the IDTSMC will be applied to build up a remote DC servo motor speed control system by internet. Operator experiments with remote control without operate DC servo motor test-bed personally to prove the practicability of the theory.

CHINESE ABSTRACT………………………………………………………………………………Ⅰ
ABSTRACT………………………………………………………………………………………… Ⅱ
ACKNOWLEDGEMENT……………………………………………………………………………Ⅲ
CONTENTS…………………………………………………………………………………………Ⅴ
LIST OF FIGURES…………………………………………………………………………………  Ⅶ
LIST OF TABLES……………………………………………………………………………………Ⅸ
CHAPTER 1.  Introduction
      1.1  Research Background………………………………………………………………………1
      1.2  Research Objective…………………………………………………………………………4
      1.3  Thesis Organization………………………………………………………………………   5
CHAPTER 2.  Fundamentals of Variable Structure Control Theory
      2.1  Introduction………………………………………………………………………………   7
      2.2  Fundamentals of Sliding Mode Control Theory…………………………………………… 8
      2.3  Problem Formulation For Discrete Time Systems…………………………………………  13
      2.4  Chattering Phenomenon in Sliding Mode Control System…………………………………14
CHAPTER 3.  Fuzzy Sets Theory and Fuzzy Logic Control
      3.1  Fuzzy Sets Theory…………………………………………………………………………16
      3.2  Fuzzy Logic Control………………………………………………………………………18
CHAPTER 4.  Basic Concept of Grey System Theory
      4.1  Introduction………………………………………………………………………………  22
      4.2  Grey Dynamic Model……………………………………………………………………   23
      4.3  Grey Prediction Technique………………………………………………………………  26
CHAPTER 5.  Integrated Discrete Twin Sliding Mode Control
      5.1  Introduction……………………………………………………………………………… 29
      5.2  A Modeling Technique of Discrete Difference Equation Grey Prediction Model………… 31
      5.3  Development of Integrated Discrete Twin Sliding Mode    Controller……………………  36
CHAPTER 6.  Experimental Results
      6.1  Introduction……………………………………………………………………………… 42
      6.2  The Comparison of DGM(2,1) with GM(1,1) and GM(2,1)……………………………… 42
      6.3  Simulation and Analysis…………………………………………………………………  45
      6.4  Experimental Device and Model…………………………………………………………  52
      6.5  Experimental Analysis and Discussion……………………………………………………54
CHAPTER 7.  Conclusions and Future Work
      7.1  Conclusions………………………………………………………………………………62
      7.2  Future Work………………………………………………………………………………64
REFERENCE………………………………………………………………………………………65
BIOGRAPHICAL SKETCH………………………………………………………………………  69
                                

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