臺灣博碩士論文加值系統

本論文是以積分式可變結構控制(IVSC)法則設計探討為主，該法則為近代處理系統具外部擾動或系統模型不明確之控制方法，主要分為兩大部份，第一部份為傳統可變結構控制器之架構，提供強韌特性以抵抗系統模型誤差及外部擾動，另一部份為積分器之運用，藉以消除穩態誤差。在控制系統設計時，控制對象系統數學模型事先取得是控制理論推導中必要的，高準度的數學模型伴隨強健控制理論，建立系統識別技術，利用ARX估測模型進行系統識別，並運用估測變動性負載，配合可變結構控制理論得以線上調整系統參數，建立正確的系統模型、系統參數與轉換函數，藉以降低系統干擾，解決系統量測問題，以增加控制器之實用性，確保系統穩定達強健控制之目標。最後，以電腦模擬與實驗驗證論文中所提的整個系統其可行性。

The objective of this thesis is to design an integral variable structure control (IVSC) rule. The IVSC rule is used to handle the control of systems with external disturbances or uncertainly systems. The method can be divided into two parts. The first part is a traditional variable structure control. It is used to against modeling error and external disturbance. The other one is the use of integral controller that is used to eliminate steady state error. To obtain the mathematical model of controlled plant previously is necessary while designing its controller. This thesis used the ARX method to finish modeling work simultaneous. Combine IVSC rule to improve the robustness. Finally, simulation results will show the practical capability.

中文摘要……………………………………………………………………Ⅰ
英文摘要……………………………………………………………………Ⅱ
誌謝…………………………………………………………………………Ⅲ
目錄…………………………………………………………………………Ⅳ
圖目錄………………………………………………………………………Ⅵ
表目錄………………………………………………………………………Ⅷ
第一章 緒論…………………………………………………………………1
第二章 系統識別理論分析……………………………………...………....2
2-1 系統識別理論…………………………………………2
2-1-1系統識別定義…………………………………………….2
2-1-2 系統識別的基本程序...…….…………………………….5
2-1-3 識別實驗的設計…...…………………………………….8
2-1-4 取樣週期的選定…………………………………………9
2-2 輸入輸出資料的前處理……………….…………………10
2-2-1時間領域中的資料前處理….….…………………………10
2-2-2頻率領域中的資料前處理……………………………….10
2-3 模型分類與表示……………………………………………11
2-3-1 系統分類…………………………… ………………………11
2-3-2 連續時間LTI系統………………………………………….12
2-3-3 離散時間LTI系統………………………………………….14
2.3-4 系統識別模型表示……….…………………………………15
第三章 控制理論分析…………………………………………………….17
3-1 參數推測理論…………...………………………………..…17
3-1-1索引函數(Index Function)選擇……………………………17
3-1-2最小平方法…...………………….…………………………18
3-1-3 ARX模型…...……….…………………………………20
3-2 可變結構系統理論………………….…………………22
3-2-1順滑模態原理…...………………………………………23
3-2-2存在條件─Lyapunov法……………………………….25
3-3 積分可變結構………………………………………………26
3-3-1 控制函數U的設計…………………………………….27
3-3-2 切換平面與積分控制器增益之決定……...…………….30
第四章 實驗結果…………………………………………………….……33
第五章 結論及未來研究……………………………………….…………47
參考文獻…………………………………………………………………….48
授權書……………………………………………………………………….52

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