走行体モデルのFuzzy制御における不安定振動現象に関する研究

概要

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Using a model of a DC-motor-driven vehicle running along a horizontal, straight rail, we experimentally investigated the characteristics of a fuzzy control for driving the model to a given destination. Fuzzy control rules were constructed in a microcomputer using fuzzy information about the location and the velocity of the model and then applied to be the DC motor to drive the model. Experiments on the fuzzy control characteristics were done with respect to the magnitudes of sampling time and control gain as well as the fuzziness parameters of the model's location and velocity. We found unstable oscillations in the motion of the model around the destination position depending on particular ranges of those parameters. Linearized stability analysis of the control system showed a rather good agreement for the experimental unstable oscillations.
一般社団法人日本機械学会の論文
1989-09-25