臺灣博碩士論文加值系統

本論文在於發展結合智慧型演算機制的控制系統應用於追蹤低軌道衛星。衛星追蹤主要仰賴SGP4軌道預測模型所產生的天線指向資料庫，依循指向座標來命令各軸的轉動，齒輪轉動時產生間隙影響到接收信號的強度，比例積分控制器可用來調整機構傳動軸所造成之誤差量。粒子群最佳化具有較少參數設定與快速收斂優點，用來進行參數最佳化與變數篩選，應用粒子群最佳化演算法來收尋PI控制器的kp與ki參數，而在搜尋的過程中使用解角器回授機構實際角度的指標去做為判斷性能優劣的依據。

最後，由實驗數據將可證明本文所製作之衛星天線控制器與機構可達到精確的追蹤與程式追蹤模式之功能。

The purpose of this thesis is to develop an intelligent algorithm of control system to track low-orbit satellites. Satellite tracking methods rely on SGP4 orbit forecasting model generated by the antenna pointing database and follow the point coordinates to command the rotation of the axes. Gears rotation gap will affect the strength of the received signal. The PI controller can adjust the error values caused by the drive shaft mechanism. Particle swarm optimization has fewer parameter settings and the advantages of fast convergence used for parameter optimization and variable selection. And particle swarm optimization algorithm can be used to search for the PI controller parameters, k_p and k_i. In the search process using resolver feedback mechanism of actual angle indicator as a basis to judge the fitness value of pros and cons.

The experimental results demonstrate the reliability of proposed system and the function of program track mode.

摘 要
Abstract
致 謝
目 錄
圖 目 錄
表 目 錄
一、緒論
1.1 前言
1.2 研究動機
1.3 文獻回顧
1.4 論文架構
二、低軌衛星追蹤系統架構
2.1 低軌衛星追蹤簡介
2.1.1 福衛二號
2.1.2 福衛二號衛星軌道
2.2 衛星軌道預測
2.2.1 衛星軌道座標
2.2.2 衛星軌道計算
2.2.3 天線指向座標預測模型
2.2.4 天線指向和三軸角度之轉換
2.3 追蹤系統架構
2.3.1 天線控制器
2.4 交流伺服馬達控制理論與原理
2.4.1 伺服馬達原理
2.4.2 伺服馬達控制方法
2.5 嵌入式系統
2.6 解角器控制理論與原理
三、粒子群最佳化演算法之比例積分控制器
3.1 粒子群最佳化演算法
3.1.1 粒子群最佳化演算法簡介
3.1.2 粒子群最佳化演算法的法則
3.1.3 粒子群最佳化的演化流程
3.2 比例積分控制器
3.2.1 比例積分控制器簡介
3.2.2 比例控制器
3.2.3 積分控制器
3.3 結合粒子群與比例積分控制器
四、實驗結果與分析
4.1 實驗設備介紹
4.1.1 機構設計
4.1.2 三軸天線伺服馬達驅動系統
4.1.3 三軸解角器訊號處理電路設計
4.1.4 GPS衛星定位器驅動
4.1.5 衛星天線控制器軟體設計
4.2 實驗結果
4.2.1 伺服馬達位置模式實驗
4.2.2 伺服馬達速度模式實驗
4.2.3 伺服馬達速度模式結合PSO-PI實驗
4.2.4 實驗分析
五、結論與未來展望
5.1 結論
5.2 後續建議與發展
六、參考文獻

發表論文
自述

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