臺灣博碩士論文加值系統

中文摘要
在本文中，整合特徵結構指定與線性指數二次高斯及迴路轉移函數法從事自轉衛星姿態控制系統設計。特徵值及特徵向量指定可提供合宜的系統阻尼及自然響應，線性指數二次高斯及迴路轉移函數在設計過程中同時考量系統擾動及量測雜訊，因此，結合這兩種設計技巧的控制系統，可提供預定的穩定度及最佳的性能響應。最後，我們可用數值結果來展示我們所提出的方法的優異性。
關鍵字：特徵結構指定、線性指數二次高斯法、迴路轉移函數法

Abstract
In this thesis, both EigenStructure Assignment (ESA) and Linear Exponential Quadratic Gaussian and Loop Transfer Recovery (LEQG/LTR) techniques are unified and applied for the design of a spinning type satellite with Double Gimbals Single Rotor-Control Moment Gyro (DGSR-CMG). For a multivariable system, the response is characterized by both eigenvalues and eigenvector. In addition, the optimal control gain obtained by the LEQG/LTR method can take the covariance of both system and measurement noises into consideration, the proposed method is more robust. By the combination of both ESA and LEQG/LTR control design methods, the control system can simultaneously provide prescribed stability and optimal performance. This paper also derives the algorithms that can take all the time domain, frequency domain, and robust decoupling design techniques into a unified method. Finally, numerical results will show that the proposed method is more robust to disturbance, sensor noise, and parameter variations. In addition, the time domain responses are also better.
Keywords: EigenStructure Assignment, Linear Exponential Quadratic Gaussian, Loop Transfer Recovery

目 錄
誌謝……………………………………………………………………………Ⅰ
中文摘要………………………………………………………………………Ⅱ
英文摘要………………………………………………………………………Ⅲ
目錄……………………………………………………………………………Ⅳ
圖目錄…………………………………………………………………………Ⅵ
表目錄…………………………………………………………………………Ⅷ
符號說明………………………………………………………………………Ⅸ
第一章 緒論…………………………………………………………………1
1.1 研究動機…………………………………………………………1
1.2 文獻回顧…………………………………………………………2
1.3 論文架構…………………………………………………………………3
第二章 最佳化理論基礎…….………………………………………………5
2.1 最佳控制LQR之理論基礎…………………………………………5
2.2 LQR的通解…………………………………………………………6
2.3 LQR的穩態解……………………………………………………………8
2.4 Kalman filter最佳估測之理論………………………………………10第三章 LQG/LTR理論………………………………………………………15
3.1 LQG理論…………………………………………………………15
3.2 最佳狀態迴授的性能與強健性………………………………………18
第四章 線性指數二次式高斯及迴路轉移函數回歸法之公式推導.22
4.1 問題定義與公式推導……………………………………………22
4.2 LEQG和LEQG/LTR之公式推導……………………………………28
第五章 特徵結構指定………………………………………………………33
5.1 特徵結構指定設計方法…………………………………………33
5.2 結合特徵結構指定線性指數二次高斯及迴路轉移回歸法……36
5.3 衛星姿態控制器設計與模擬結果………………………………37
第六章 結論與建議…………………………………………………………56
參考文獻………………………………………………………………………57

參考文獻
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