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研究生:朱子忠
研究生(外文):Tzu-Chung Chu
論文名稱:使用未知輸入觀測器和步階迴歸的可變結構及應用於馬達控制
論文名稱(外文):A VSS using unknown input observer and backstepping technique with application to motor control
指導教授:李柏坤
指導教授(外文):Bore-Kuen Lee
學位類別:碩士
校院名稱:中華大學
系所名稱:電機工程學系碩士班
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2001
畢業學年度:89
語文別:中文
論文頁數:45
中文關鍵詞:可變結構馬達控制步階迴歸觀測器
外文關鍵詞:VSSmotor controlbacksteppingobserver
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在本論文中,我們針對可變結構系統控制和使用步階迴歸技術來處理不匹配的不確定性並應用我們的理論結果對直流馬達作速度控制。 此論文有提到不匹配摩擦力項,可利用未知輸入觀測器可將系統的狀態及外部干擾估測出來。搭配該估側器,使用可變結構控制系統和步階迴歸系統來達到DC 馬達的速度控制。針對速度可看出此系統的性能可將原先的轉移函數視為一階的轉移函數且直流的增益為1,且頻寬可任意的調整。

In this thesis, we consider the variable structure system (VSS) control using the backstepping technique to deal with the mismatched uncertainty and apply our theoretical results to DC motor velocity control. In the presence of mismatched friction force, the unknown input observer is then used to provide the estimates of the states of the system as well as the friction term. With these estimates, the VSS control method is used to fulfill the backstepping control method for DC motor velocity control. The overall system performance is determined by a first-order transfer function with unit DC gain and arbitrary bandwidth.

Contents
1 Introduction 5
1.1 Survey of Related Researches and Motivation . . . 5
2 Experimental System 11
2.1 Instruments . . . . . . . . . . . . . . . . . . . 11
2.1.1 DC servo motor and the encoder . . . . . . . . . . . . . . . . 12
2.1.2 linearamplifier. . . . . . . . . . . . . . . . . 13
2.1.3 The data acquisition card . . . . . . . . . . .. 14
2.2 Veriation of Motor Parameters . . . . . . . . .. 15
2.2.1 motor parameter measurements using a tachometer . . . . . . 16
2.2.2 motor parameter measurement method of current . 20
2.2.3 Estimation of parameters of the servo motor . . 22
3 Speed Control by Backstepping with VSS 24
3.1 The state-space model and the unknown input observer . 25
3.2 Backstepping VSS Control . . . . . . . . . . . . . 31
4 Conclusions and Discussions 45

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