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研究生:林鈺翔
研究生(外文):Yu-Hsiang Lin
論文名稱:雙連桿倒單擺系統甩上與平衡控制
論文名稱(外文):Double Link Inverted Pendulum System Swing Up & Balance Control
指導教授:何明字
指導教授(外文):Ming-Tzu Ho
學位類別:碩士
校院名稱:國立成功大學
系所名稱:工程科學系碩博士班
學門:工程學門
學類:綜合工程學類
論文種類:學術論文
論文出版年:2002
畢業學年度:90
語文別:中文
論文頁數:71
中文關鍵詞:甩上控制器平衡控制器以能量為基礎之控制部分回授線性化控制
外文關鍵詞:partial feedback linearization control.balance controllerenergy based controlswing up controller
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雙連桿倒單擺系統為一不穩定系統,其機械結構並不複雜,故適用於驗證各種控制理論。雙連桿倒單擺系統是由兩個同一平面運動的連桿所組成,其控制目的為由直流伺服馬達驅動連桿一帶動連桿二作甩上運動與倒立平衡控制,這種系統和車與桿倒單擺及旋轉式倒單擺系統最大的差異在於力矩的變化,車與桿倒單擺系統及旋轉式倒單擺系統的力矩大小變化不會隨位置的變化而變動,但雙連桿倒單擺系統會隨轉動角度的大小而力矩有所變動,使得本系統在平衡控制與甩上控制更具困難。 本篇論文的平衡控制器是使用最佳控制理論來完成、甩上控制器分別使用以能量為基礎之控制及部分回授線性化控制這兩種方法來完成。
The double link inverted pendulum system is an unstable system. The mechanism of this system is not complicated. Because of this, this system provides a platform for verifying the effectiveness of different control schemes. Double link inverted pendulum system has two links moving on the same plane. The control objective is to swing up and then keep the link-2 at upright position (Top & Middle) through swing of the link-1 driven by a DC motor. From system torque point of view, this system is different from the car-pole inverted pendulum and rotary inverted pendulum system. For the car-pole inverted pendulum and rotary inverted pendulum system, the torque exerted on the pendulum arm by the car or rotary arm is independent on the motion position, but the torque of the double link inverted pendulum system exerted on the link-1 by the link-2 is dependent on the angle between the vertical line and link-2. Such foregoing characteristics will create much more difficulty to the control process. In this thesis, the balance controller is based on LQR control law, and the swing up controller adopts energy based control scheme and partial feedback linearization control scheme.
中文摘要.....I I
英文摘要.....II
目錄.....III
圖表目錄.....V
第一章 緒論.....1-1
1-1 前言.....1-1
1-2回顧相關研究.....1-3
1-3 本文結構.....1-4
第二章 雙連桿倒單擺系統機械結構與控制介面之設計.....2-1
2-1前言.....2-1
2-2雙連桿倒單擺系統簡介.....2-2
2-3 控制介面之設計.....2-5
第三章 雙連桿倒單擺系統數學模型建立.....3-1
3-1前言.....3-1
3-2雙連桿倒單擺機構部份的數學模型.....3-2
3-3直流馬達數學模型之建立.....3-5
3-4馬達參數鑑別.....3-7
3-5雙連桿倒單擺系統整體系統數學模型.....3-11
第四章 平衡控制器之設計.....4-1
4-1前言.....4-1
4-2 LQR 控制器.....4-2
第五章 甩上控制器之設計.....5-1
5-1前言.....5-1
5-2 甩上控制器使用以能量為基礎之控制.....5-2
5-3 甩上控制器使用部分回授線性化.....5-9
5-4 切換控制.....5-17
第六章 旋轉型倒單擺系統之甩上與平衡控制.....6-1
6-1前言.....6-1
6-2旋轉型倒單擺系統整體的數學模型.....6-2
6-3平衡控制器之設計.....6-5
6-4甩上控制器之設計.....6-8
第七章 結論與未來展望.....7-1
7-1 結論.....7-1
7-2 未來展望.....7-2
參考文獻
自述
[1]C. E. Lin and Y. R. Sheu, “A Hybrid-Control Approach for Pendulum-Car Control,” IEEE Trans. on Industrial Electronics, Vol. 39, No. 3, pp. 208-214, 1992.
[2]M. Widjaja and S. Yurkovich, “Intelligent Control for Swing Up and Balancing of an Inverted Pendulum System,” Proc. of the 4th IEEE Conf. on Control Appl., pp. 534-542, 1995.
[3]I. I. Kim and J. H. Lee, “A New Approach to Adaptive Membership Function for Fuzzy Interface System,” Knowledge-Based Intelligent Information Engineering Systems, Third International Conference, pp. 112-116, 1999.
[4]K. Furuta, “Design of Variable Structure Controllers,” IEEE Proc. of the 39th Conf. On Decision and Control, pp. 1685-1690, 2000.
[5]S. Kawaji and K. Ogasawara, “Swing Up Control of a Pendulum using Genetic Algorithms,” Proc. of the 33rd IEEE Conf. on Decision and Control, pp. 3530-3532, 1994.
[6]S. U. Cheang and W. J. Chen, “Stabilizing Control of an Inverted Pendulum System Based on Loop Shaping Design Procedure,” IEEE APEC, pp. 272-280, 1997.
[7]S. J. Huang and C. L. Huang, “Control of an Inverted Pendulum Using Gray Prediction Model,” IEEE Trans. on Industry Applications, Vol. 36, No. 2, pp. 452-458, 2000.
[8]H. Osinga and J. Hauser, “On Geometry of Optimal Control: the Inverted Pendulum Example,” Proc. of American Control Conference, pp. 25-27, 2001.
[9]J. L. Lin and W. J. Yang, “Modified IVSC Stabilization and Swing Up Control of an Inverted Pendulum,” Automatic Control Conference of Taiwan R.O.C., pp.150-153, 1997.
[10]M. W. Spong, “The Control of Underactuated Mechanical Systems,” Plenary Lecture at the First International Conference on Mechatromics , Mexico City, pp. 26-29, 1994.
[11]K. J. Astrom and K. Furuta, “Swinging Up a Pendulum by Energy Control, ” in Proc. IFAC 13th Triennial World Congr., San Francisco, CA, pp. 37-42, 1996.
[12]辛俊光,「永磁式直流有刷馬達之參數自動鑑別系統」,國立成功大學航空太空工程學系碩士論文,民國八十六年六月。
[13]H. Matsuno and A. Moran and M. Hayase, “Design of Controllers and Observers for MIMO Nonlinear Systems,” Proceedings of the 35th SICE Annual Conference. International Session Papers , pp. 1059 –1064, 1996.
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