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研究生:吳錫文
研究生(外文):Shir-Wen Wu
論文名稱:旋轉式倒立單擺之順滑模態控制器設計
論文名稱(外文):Sliding Mode Controller Design of A Rotatory Inverted Pendulum
指導教授:陳永平陳永平引用關係
指導教授(外文):Yon-Ping Chen
學位類別:碩士
校院名稱:國立交通大學
系所名稱:電機與控制工程系
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:2002
畢業學年度:90
語文別:英文
中文關鍵詞:旋轉式倒立單擺順滑模態控制器控制器設計
外文關鍵詞:a rotatory inverted pendulumsliding mode controllercontroller design
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在這篇論文中的主要研究目的是利用順滑模態控制理論來控制一個旋轉式倒立單擺系統,使單擺從某個初始位置被控制到直立的狀態。一個旋轉式倒立單擺系統是一個具有高非線性特性的機械系統。由於這個因素,一個旋轉式倒立單擺經常被使用來驗證許多的非線性控制理論。在這本論文當中,旋轉式倒立單擺的數學模型的建立與推導過程將完整地呈現出來。同時,除了使用一般傳統的順滑模態控制器外,還設計了積分式順滑模態控制器,這些控制器都會被用來控制在線性區域範圍的旋轉式倒立單擺系統。模擬結果會完整地提出在論文當中,同時對於實驗的建構部分也會有完整的說明。希望對於有關倒立單擺控制方面的研究,這篇論文也能提供一些基本的觀點和簡單成果。
The main purpose of this paper is that using sliding mode control theorems to control a rotating inverted pendulum system to be straight from an initial position. A rotating inverted pendulum is a mechanical system with high nonlinear characters. Because of this reason, a rotating inverted pendulum is usually used to prove many nonlinear control theorems. The overall derivation process for a rotating inverted pendulum mathematical model is presented in this paper. The conventional sliding mode controller and integral sliding mode controller will be designed and used to control this pendulum system in the linear regions. The simulation results will be showed completely, and the construction of experiments will also be presented. For the researches about pendulum control, this paper will also provide a few fundamental aspects and simple achievements.
Contents
Chinese Abstract
English Abstract
Acknowledgment
Contents
List of Figures
Chapter 1:Introduction
1.1 Motivations and proposals of the research
1.2 Theory of variable structure system control
1.3 The interpretation of VSC
1.4 The main structure of this paper
Chapter 2:System Description
2.1 Description of the rotating inverted pendulum
2.2 The system mathematical model derivation
Chapter 3:System Controller Design
3.1 The sliding mode controller design
3.2 The integral sliding mode controller design
Chapter 4:System Simulation
4.1 Introduction of simulation method
4.2 The simulation result figures and explanation
Chapter 5:Experiments Construction
5.1 The description of hardware experimental conditions
5.2 The problems and improvements of experiments
Chapter 6:Conclusion
6.1 Research conclusions
6.2 Future work of this research
Reference
Appendix
[1] Benjamin C. KUO, Automatic controller systems, Prentice-Hall, 1995.
[2] Chi Youn Chung, Sang Moo Lee, Jin Won Lee and Beom Hee Lee, “Balancing of an Inverted Pendulum With a Kinematically Redundant Robot”, Proceedings of the IEEE/RSJ, 1999, pp. 191-196.
[3] D. Sbarbaro, “Application of in integral variable structure controllers”, Proceedings of the 1996 IEEE International Conference on Control Applications, Sept 1996, pp. 673-678.
[4] Heejin Lee, Euntai Kim, Hyung-Jin Kang and Mignon Park, “Design of a sliding mode controller with fuzzy sliding surfaces”, IEE Proc.-Control Theory Application, Vol. 145, No. 5, 1998, pp. 411-418.
[5] John Y. Hung, Weibing Gao, and James c. Hung, “Variable Structure Control: A Survey”, IEEE Transactions on Industrial Electronics, Vol. 40, No. 1, 1993, pp. 2-22.
[6] Juergen Ackermann and Vadim Utkin, “Sliding mode Control Design Based on Ackermann’s Formula”, IEEE Transactions on Automatic Control, Vol. 43, No.2, Feb 1998, pp. 234-237.
[7] Katsuhisa Furuta, Masaki Yamakita and Seiichi Kobayashi, “Swing Up Control of Inverted Pendulum”, 1991 IEEE, pp. 2193-2198.
[8] K.J. Astrom and K. Furuta, “Swinging up a pendulum by energy control”, 2000 Automatica 36, pp. 287-295.
[9] May-Win L. Thein and Eduardo A. Misawa, “Comparison of the Sliding Observer to Several State Estimators Using a Rotational Inverted Pendulum”, Proceedings of the 34th conference on Decision & control, Dec 1995, pp. 3385-3390.
[10] Moeljono Widjaja and Stephen Yurkovich, “Intelligent Control for Swing up and Balancing of an Inverted Pendulum System”, 1995 IEEE, pp. 534-542.
[11] Paul G. Grossimon, Enrique Barbieri and Sergey Drakunov, “Sliding Mode Control of an Inverted Pendulum”, 1996 IEEE, pp.248-252.
[12] S. V. Emelyanov, Variable Structure Control Systems. Moscow: Nauka (in Russian), 1970.
[13] T.-L. Chern and Y.-C. Wu, “Design of integral variable structure controller and application to electrohydraulic velocity servosystems”, IEE PROCEEDINGS-D, Vol. 138, No. 5, Sept. 1991, pp. 439-444.
[14] Wilfredo Torres-Pomales and Oscar R. Gonzalez, “Nonlinear Control of Swing-Up Inverted Pendulum”, Proceedings of the 1996 IEEE International Conference on Control Applications, Sept 1996, pp. 259-264.
[15] Y. Itkis, Control Systems of Variable Structure. New York: Wiley, 1976.
[16] ─, Sliding Modes and Their Application in variable structure systems. Nauka (in Russian) (also Moscow: Mir, 1978, in English).
[17] V. I. Utkin and K. D. Young, “Methods for constructing discontinuity planes in multidimensional variable structure systems”, Automation Remote Control, Vol. 39, 1979, pp. 1466-1470.
[18] 陳永平, 可變結構控制設計, 全華圖書, 1999.
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