臺灣博碩士論文加值系統

本論文提出一新設計流程來設計重複性控制器。
重複性控制器本身為一補償器，嵌入原控制系統
其目的是要用來改善原控制器對於週期性穩態誤差消減的能力。
而設計此重複性控制器的困難度在於重複性控制器加入原系統中，
系統仍維持穩定。在文獻中的設計
方法雖然系統化，但所設計之控制器實現複雜度高，而且此控制器的性能缺
乏量化的分析，只能保證系統穩定，不一定是一最佳解。本論文將以一Max-Min
的量化標準來設計重複性控制器。利用此方法所設計的重複性控制器具有容易實現的優點。
本論文我們利用FPGA實現此重複性控制器。
實驗的部分，將所設計之重複性控制器應用於光碟機。實驗結果顯示確實可改進其循軌效能。

This thesis presents a new approach for designing a repetitive
controller. The repetitive controller serves mainly as a
compensator, plugged into a control system, to improve controller
performance for the plant to accurately track a periodic signal.
The stability of the resulting system may not be maintained when
the repetitive controller is installed. Conventional approaches
design a repetitive controller focusing on how to ensure the
stability of the resulting system. Hence the designed repetitive
controller is usually difficult to implement and its performance
is not optimum. To avoid this drawback, we present a Max-Min
criterion to design a repetitive controller which is not only
optimum but also simple for realization. The repetitive controller
is implemented using FPGA. For experiment, the proposed design
approach is applied to a DVD-ROM. Experimental results demonstrate
the improvement of its tracking performance.

第一章、緒論
1.1、研究動機
1.2、文獻回顧與研究動機
1.3、論文架構
第二章、重複性控制器的原理及架構
2.1、重複性控制理論
2.2、週期性訊號產生器
2.3、基本重複性控制器架構
2.4、原理說明
第三章、穩定度分析與Max-Min設計方式
3.1、具濾波效果的重複性控制器
3.2、加入相位補償器
3.3、完整的重複性控制系統之穩定度分析
3.4、Max-Min設計方式
第四章、重複性控制器的設計
4.1、重複性控制器架構
4.2、重複性控制器的設計流程
4.2.1、步驟一:系統鑑別
4.2.2、步驟二:補償器設計
4.2.3、步驟三:N 值得選擇
第五章、重複性控制器的實現
5.1、重複性控制器的實現
5.1.1、重複性控制器I/O
5.1.2、內部電路
5.2、週邊電路設計
5.3、功能測試
第六章、模擬分析與實驗
6.1、光碟機範例
6.1.1、模型建立
6.1.2、補償器設計
6.1.3、N 的設計
6.2、模擬結果與分析
6.3、實驗
第七章、結論
參考文獻
附錄A、弦波之振幅與相位檢測

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