本文中雙軸泵控和閥控系統是耦合系統，它們有明顯的結構耦合作用。泵控系統使用兩組動力單元來驅動兩個子系統，兩個子系統的同步差異較小。閥控系統由一組動力單元來驅動兩組液壓伺服閥驅動的子系統，兩個子系統的同步差異較大。
本文提出一種耦合適應性自組織滑動模糊控制器，來改善它們的同步控制性能。耦合適應性自組織滑動模糊控制器由兩組基本的單軸滑動模糊控制器、模糊規則自我學習機構、適應性法則以及附調節器的耦合控制器組合而成。耦合適應性自組織滑動模糊控制器藉由各別的參數改變來學習不同的參數效應。實驗結果顯示模糊規則自我學習機構的學習率能減少同步誤差改善追蹤性能。此外，它也可改善閥控系統的穩態收斂性。適應性法則能改善追蹤誤差。然而，適應性法則對閥控系統追蹤誤差的改善較不明顯。附調節器的耦合控制器能改善兩個子系統的同步誤差。
本研究以不同的負載用來模擬彎折過程中不同的工件及不同的耦合強度，實驗結果顯示，耦合適應性自組織滑動模糊控制器應用到泵控和閥控系統，有卓越的同步控制性能，而且對於不同的耦合強度具有強韌性。本文中並比較了泵控和閥控系統的暫態和穩態性能，實驗結果顯示，泵控系統有取代閥控系統的可行性。

The double-axial pump-controlled and valve-controlled systems are coupled systems and have significant structural interaction. Pump-controlled system has two power units to drive two sub-systems, the synchronous difference is low. Valve-controlled system has one power unit to drive two sub-systems, the synchronous difference is a little bit higher.
This dissertation proposes a coupled adaptive self-organizing sliding-mode fuzzy controller (CASOSMFC) to improve their level control performance. CASOSMFC is associated with two basic single-axial sliding-mode fuzzy controllers, self-learning fuzzy rule mechanisms, adaptive laws, coupled controllers and regulators. Then, it can base on variety parameters to study their parametric effects individually. Experimental results indicate that the learning rate of self-learning fuzzy rule mechanism can reduce synchronous error and improve the tracking performance. Besides, astringency in steady state of valve-controlled system has also been improved. Adaptive law improves tracking error. However, the improvement in valve-controlled system is insignificant. Coupled controllers and regulators improve synchronous error.
Different loadings are used to simulate different work pieces and various coupled intensity folding processes. Experimental results indicate that CASOSMFC applied in the pump-controlled and valve-controlled system has excellent level control performance and has strong robustness to different coupled intensity.
Via a variety of loading experiments, this dissertation provides comparisons of control performances between pump-controlled and valve-controlled system. Experimental results indicate that pump-controlled system is an option to replace valve-controlled system in synchronous control application.

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