應用可規劃程式閘陣列設計斜面直線倒單擺甩上及平衡之比例積分微分控制器及模糊控制器

Swing Up and Balancing Control of a Sloped Linear Inverted Pendulum by Using FPGA PID/Fuzzy Controllers

直線倒單擺系統為一個非線性不穩定且具有非極小相位特性之系統，因而被廣泛的用於驗證各種線性及非線性控制系統理論。本文之目的為設計嵌入式系統以及使用可規劃程式閘陣列設計比例積分及微分控制器與模糊控制器實現斜面直線倒單擺甩上及平衡控制；其控制目標為先將倒單擺由初始下垂位置逐漸甩上至垂直位置附近，然後隨即控制倒單擺於滑台某特定點處維持平衡。經由電腦模擬及實驗結果可驗證明本文所設計的控制器可以成功有效率地達到預期的控制目標。

A linear inverted pendulum system is a nonlinear, unstable system thathas non-minimum phase characteristics and it has been widely used todemonstrate the effectiveness of linear/nonlinear control theorem. Thepurpose of this study is to design a Nios embedded system and FPGAPID/Fuzzy controllers to swing up a sloped linear inverted pendulum from the stationary hanging state to the upright position and follow by balancingit about the vertical position and positioning the cart in the desired position.Computer simulations and experimental results are performed to illustratethe feasibility and effectiveness of the proposed control methods.