本論文針對流體傳動伺服系統進行自適應滑動模式控制器設計及實驗的研究，其中包括氣壓伺服系統及變排量電液泵控伺服系統。由於流體傳動伺服系統具有非線性時變之特性，因此要針對其動態特性建立精確之系統數學模式，以作為滑動模式控制器之設計是非常不容易的。對此，本文提出兩種不同型式的自適應滑動模式控制器設計方法，以去除滑動模式控制器設計需要系統數學模式之限制及減少實際控制系統實現之困難度。為了說明上述之研究，我們將論文分成兩大部分，第一部份針對氣壓伺服系統推導以傅立葉級數為基礎之自適應滑動模式控制器，第二部份則針對變排量電液泵控伺服系統設計具自調模糊滑動模式補償之自適應模糊控制器。
第一部份，氣壓伺服系統由於氣體的可壓縮性、低黏阻、固有頻率低、系統摩擦力、閥體本身對負載的非線性特性、比例線圈的磁滯現象、零點飄移及閥軸運動時的中位無感應區等現象，使氣壓伺服系統成為一具時變且高度非線性之系統，因此該系統之穩定性易受外界干擾及系統參數變化影響而使其難以達到準確之運動控制效果。因此本文第一部份之研究旨在發展具 追蹤性能及傅立葉級數基礎之適應性滑動模式控制器(FSB-ASMC+ )，實現氣壓伺服系統之運動控制，本控制器首先以傅立葉正交級數之函數近似法估測系統之未知非線性動態，故可去除滑動模式控制器設計需系統數學模式之限制，並結合 追蹤與自適應控制器之設計方法，故可使控制器避免因函數估測誤差、未考慮之系統動態及干擾所造成之影響，因此，無需系統數學模式及嘗試錯誤法進行控制器設計及估測函數之選擇。上述之控制器設計皆輔有Lyapunov穩定性分析。此外，本文第一部份所發展之控制器可藉由 追蹤設計方法改善滑動模式控制器之嚴重不連續振顫問題。最後，並以實驗驗證所發展之具 追蹤性能及傅立葉級數基礎之適應性滑動模式控制器，實現於無桿氣壓缸所組成之氣壓伺服系統的運動控制。
第二部份，旨在發展及實現具自調模糊滑動模式補償之適應性模糊控制器，在此控制方法中，控制器由兩部分組成，包含自適應模糊控制器和自調模糊滑動模式補償器。其中，自適應模糊控制器利用模糊邏輯系統來近似等效控制器以去除滑動模式控制器設計需系統數學模式之限制，另外加入具即時自調能力之模糊滑動模式補償器來進行近似誤差和系統不確定性及外界干擾之補償;並可改善滑動模式控制器之嚴重不連續振顫問題。整個控制系統在Lyapunov意義下漸進穩定且系統之追蹤誤差收斂於零的某一個鄰域內。最後，以實驗驗證所發展之具自調模糊滑動模式補償之自適應模糊控制器，實現於變排量電液泵控伺服系統之位置控制與追蹤控制。實驗結果顯示該控制器能有效處理系統的動態變化，並使系統具有較佳之強健性與控制性能。

This dissertation presents the theoretical and experimental study of fluid power servo system which could be classified into two different domains, pneumatic servo system and variable displacement electro-hydraulic pump-controlled servo system (VDEHPCSS). Since the fluid power servo system has nonlinear and time-varying behavior, it is difficult to establish an accurate dynamic model for a model-based sliding mode control design. To deal with this problem, this dissertation proposes several stable adaptive sliding mode controllers, some of which are then applied to the pneumatic servo system and VDEHPCSS. Therefore, this dissertation is organized into two parts: Part I develops the Fourier series-based adaptive sliding mode controller for pneumatic servo system and Part II presents the adaptive fuzzy controller with self-tuning fuzzy sliding mode compensation for VDEHPCSS.
In Part I, the dominant nonlinearities in pneumatic servo systems are the couplings between motion and pressure, between pressure and flow rate, the valve nonlinearities and the cylinder friction. The nonlinear friction, especially the friction behaviour at velocity reversal, is the big obstacle for high precision motion control of a pneumatic servo system. The valve nonlinearities are complicated and it is necessary to consider their integral nonlinear effect. Thus, this study proposes a new Fourier series-based adaptive sliding mode controller with tracking performance (FSB-ASMC+ ) for pneumatic servo systems. Our controller first employs the Fourier series-based functional approximation technique to approximate the unknown nonlinear functions, thus bypassing the model-based prerequisite. Next, further efforts are made to improve the dynamic tracking performance we incorporate the tracking design technique into an adaptive sliding mode control method to make the derived controller robust against approximated errors, unmodeled dynamics and disturbances. The advantages of the proposed method are that no system dynamic models are required and the serious chattering problem can be reduced by means of the tracking design technique. To guarantee the system stability, the new laws for the coefficients of the Fourier-series functions are derived by a Lyapunov function. Generality and robustness tests are made to verify the practicality of the control strategies proposed in this dissertation. Consequently, practical experiments on the rodless pneumatic servo system are successfully implemented with different tracking profiles, which validate the proposed method.
In Part II, the design method and experimental implementation of an adaptive fuzzy controller with self-tuning fuzzy sliding mode compensation (AFC-STFSMC) proposed which has on-line tuning ability for dealing with the system time-varying and nonlinear uncertain behaviors for adjusting the control rule parameters. This control strategy employs the adaptive fuzzy approximation technique to design the equivalent controller of the conventional sliding mode control. Furthermore, the fuzzy sliding mode control scheme with self-tuning ability is introduced to compensate the approximation error of the equivalent controller for improving the control performance. The proposed AFC-STFSMC scheme can design the sliding mode controller with no requirement of the system dynamic model, be free from chattering, be stable tracking control performance, and be robust to uncertainties. Moreover, the stability proof of the proposed scheme using Lyapunov method is presented. The experimental results of the positioning control and the tracking control in VDEHPCSS with different strokes and external disturbance forces show that the proposed AFC-STFSMC approach can achieve excellent control performance and robustness with regard to parameter variations and external disturbance.

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