臺灣博碩士論文加值系統

傳統上，天車系統都是以人工的方式來操作。為了減少人事的開銷，天車的自動控制系統因而開發。在自動控制的過程中，最重要的是要有精準、快速的定位、最小的擺盪角度、還要有高度的安全性。所以控制過程中的穩定性是很重要的。過去在天車系統上，有很多控制器的開發與研究，現在我們設計了三種非線性的控制方法，含括了台車與擺角的動態，且可保證整個閉迴路系統的穩定性。為了解決未知參數的問題，我們使用適應性控制法則來設計此非線性控制器。在這個控制法則下，將有精準的定位以及最小的擺盪。當然，我們也利用了穩定性的證明來驗證此控制法則的正確性，且透過電腦模擬來加以驗證此控制法則的可用性。確定可用性後的控制系統在小尺寸的天車模型完成實際測試，證明它的性能完善，可以有效的在台車定位的過程有效地抑制由外部干擾和啟動及停止瞬間所引起的擺角搖晃。

Traditionally, the overhead crane system is always operated by human. In order to reduce the cost of personnel expense, the automatic control of the overhead crane system is developed. In process of the automatic control, the most important issues are high positioning accuracy, short transportation time, small sway angle, and high safety. So that the stabilization control for overhead crane system becomes more and more major. There are many kinds of control schemes in the overhead crane system, and a nonlinear control scheme which includes both the cart motion dynamics and swing angle dynamics is designed to assure the whole closed-loop system stability. To deal with parametric uncertainty, the nonlinear controller is developed with an adaptive version. In this control laws, the position will locate accurate and the swing angle will achieve minimal swing. Besides, we also prove the stability by Lyapunov conception. We also use the computer simulations and experiments to validate the performance of the controller.

CONTENTS
摘 要 I
Abstract II
Acknowledgement III
CONTENTS IV
List of Figures VI
CHAPTER 1 INTRODUCTION 1
1.1 Motivation 1
1.2 Survey of Related Researches 2
1.3 Contribution of the Thesis 4
1.4 Organization of the Thesis 4
CHAPTER 2 DYNAMIC MODEL 5
2.1 Dynamic Model of Overhead Crane 5
CHAPTER 3 CONTROLLER DESIGN 8
3.1 Model formulation 8
3.2 Adaptive Control Design 10
3.2.1 Computer Simulation Results 14
3.3 Simplified Version for Adaptive Control 21
3.3.1 Computer Simulation Results 23
3.4 PD Control with Adaptive Gravity Compensation 31
3.4.1 Computer Simulation Results 34
CHAPTER 4 EXPERIMANTAL VERIFICATION 41
4.1 Equipment Description 41
4.2 Experimental Results 46
4.2.1 Experiments for the Modified Adaptive Control 47
4.2.2 Experiments for the Simplified Adaptive Control 54
4.2.3 Experiments for the Adaptive PD Control 61
CHAPTER 5 CONCLUSION 68
References 69
APPENDIX A 72
APPENDIX B 75
APPENDIX C 77
Bio-sketch of author 84

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