本論文希望發展一個符合精密、快速要求的定位控制系統。在此我們以線性直流馬達作為系統本體，分別設計巨觀與微觀模型之控制器，其中巨觀階段以基因演算法搜尋PID控制器參數，以求得近最佳參數值，完成巨觀定位目標，而微觀階段則以Relay-Feedback自調式PID控制器執行定位控制，並透過動態轉換條件，以整合兩階段定位控制。期望系統可在0.2秒內完成1cm以內之定位距離，並達到定位精度小於 的定位目標。
應用基因演算法的原理與運算方式，經過基因揀選複製、交配與突變等程序搜尋近最佳控制器參數，以改善原PID控制器對閉迴路系統的性能表現。由電腦模擬與實驗結果顯示，基因演算法所設計之近最佳控制器，能有效改善線性直流馬達系統的性能響應。

The main purpose of this thesis is to design a positioning system that matches the demand of the high-accuracy and the high-speed positioning. Hereon, the linear DC motor will be chosen as the main body of the whole system. Individually, we design the controller for macro model and micro model. Among them, using the genetic algorithms（GA）to find the near-optimum controller parameters for PID controller to complete the macro target. And adopting the relay-feedback auto-tuning PID controller to carry out the micro region position control. Through the dynamic transition condition, the two-step position control system is integrated. We hope that the positioning results can achieve the position sensor resolution, , in 0.2 second（positioning distance <1.0cm）.
By adopting the principle and operation procedure of the genetic algorithms to make a search for the near-optimum controller parameters, and through the process of selection, reproduction, crossover, and mutation of genes, and then the performance of the closed-loop system with PID controller is improved. According to the computer simulations and the experimental results, it is obvious that the GA-based near-optimal controller can satisfactorily control the linear DC motor system.

目錄 I
符號索引 III
圖表索引 VII
中文摘要 X
英文摘要 XI
第一章 緒論 1
1-1 研究動機與目的 1
1-2 文獻回顧 2
1-2.1 系統動態模型及其物理特性回顧 2
1-2.2 控制器設計之回顧 8
1-2.3 基因演算法之回顧 9
1-3 論文架構 11

第二章 系統之動態模式描述 12
2-1 線性直流馬達之巨觀模型 12
2-1.1 數學模型的推導 12
2-1.2 系統參數之鑑別 15
2-2 線性直流馬達之微觀模型 16
2-2.1 微觀運動分析 16
2-2.2 微觀靜摩擦力模型鑑別 22

第三章 基因演算法 23
3-1 基因演算法的簡介 23
3-2 基因演算法的基本原理 25
3-2.1 資料結構 25
3-2.2 編碼與解碼 26
3-2.3 適合函數 27
3-2.4 揀選或複製 29
3-2.5 交配 32
3-2.6 突變 33
3-2.7 替換 34
3-2.8 基因演算法的執行流程 34
3-3 基因演算法的數學理論基礎 35
3-4 基因演算法的特性 38

第四章 控制器之設計 41
4-1 巨觀階段：PID控制器結合基因演算法 41
4-2 控制器之動態轉換 51
4-3 微觀階段：自調式控制器 53
4-3.1 Ziegler-Nichols PID控制器 53
4-3.2 Relay-Feedback自調式PID控制 56

第五章 模擬與實驗結果 61
5-1 實驗設備架構 61
5-2 電腦模擬與實驗結果 64

第六章 結論與未來展望 75
參考文獻 77
附圖A 定位控制實驗設備與線性馬達照片 83

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