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题名: A Hybrid Intelligent Controller for a Twin Rotor MIMO System and Its Hardware Implementation
作者: Jih-Gau Juang;Wen-Kai Liu;Ren-Wei Lin
贡献者: NTOU:Department of Communications Navigation and Control Engineering
國立臺灣海洋大學:通訊與導航工程學系
关键词: Hybrid intelligent control;MIMO system;PID control;Fuzzy system;GA
日期: 2011-10
上传时间: 2011-10-21T02:35:42Z
出版者: ISA Transactions
摘要: abstract:This paper presents a fuzzy PID control scheme with a real-valued genetic algorithm (RGA) to a setpoint control problem. The objective of this paper is to control a twin rotor MIMO system (TRMS) to move quickly and accurately to the desired attitudes, both the pitch angle and the azimuth angle in a cross-coupled condition. A fuzzy compensator is applied to the PID controller. The proposed control structure includes four PID controllers with independent inputs in 2-DOF. In order to reduce total error and control energy, all parameters of the controller are obtained by a RGA with the system performance index as a fitness function. The system performance index utilized the integral of time multiplied by the square error criterion (ITSE) to build a suitable fitness function in the RGA. A new method for RGA to solve more than 10 parameters in the control scheme is investigated. For real-time control, Xilinx Spartan II SP200 FPGA (Field Programmable Gate Array) is employed to construct a hardware-in-the-loop system through writing VHDL on this FPGA.
關聯: 50(4), pp.609–619
URI: http://ntour.ntou.edu.tw/handle/987654321/28044
显示于类别:[通訊與導航工程學系] 期刊論文

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