跳到主要內容

臺灣博碩士論文加值系統

(44.210.21.70) 您好!臺灣時間:2022/08/15 08:36
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

我願授權國圖
: 
twitterline
研究生:黃彥淳
研究生(外文):Yan-Chuen Huang
論文名稱:H-infinite控制之靈敏度成型研究
論文名稱(外文):An H-infinite Based Sensitivity Function Shaping Method
指導教授:趙健祥
指導教授(外文):Chien-Hsiang Chao
學位類別:碩士
校院名稱:國立中山大學
系所名稱:機械與機電工程學系研究所
學門:工程學門
學類:機械工程學類
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:90
中文關鍵詞:強韌控制靈敏度成型迴路成型
外文關鍵詞:Mu-synthesisLoop ShapingSensitivity Function Shaping
相關次數:
  • 被引用被引用:1
  • 點閱點閱:163
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0

摘要
本論文研究推導閉迴路靈敏度函數成型的概念,並且結合 設計的方法應用於結構化不確定性系統。閉迴路靈敏度函數成型設計是直接以閉迴路函數性能為指標,透過閉迴路頻率響應作權重函數調整,使系統具備強韌穩定性以及達到強韌性能的目標。
由於 迴路成型使用開路函數指標來設計閉迴路的強韌性能,可能導致閉迴路強韌性能無法達到設計者的要求,且 迴路成型難以針對結構化不確定性系統設計控制器,因此透過閉迴路函數指標,能直接將結構化不確定性納入閉迴路系統中,透過靈敏度成型的方式來達到成型的效果。


Abstract
This thesis presents that the closed-loop sensitivity function shaping combined with -synthesis applies to design the controller with structured uncertainties. The sensitivity function shaping is directly based on the indices of the closed-loop performances. The closed-loop frequency response and the robust stability for the system could approach the designed performances by adjusting weighting functions.
Since the robust performance of the closed-loop systems bases on the index of the open-loop function in the loop shaping, it may not accomplish the requirement of the designer. The loop shaping can’t be applied to design controllers for the system with structured uncertainties. Therefore, using the closed-loop sensitivity function shaping to design controller will contain the system with structured uncertainties and satisfy the closed-loop performance.


目錄
目錄 …………………………………………………………I
圖索引 ………………………………………………………III
符號表 ………………………………………………………VI
論文摘要 (中文) …………………………………………VIII
論文摘要 (英文) ……………………………………………IX
第一章 緒論 ………………………………………………1
1-1 前言……………………………………………………………1
1-2 文獻回顧………………………………………………………3
1-3 研究動機………………………………………………………5
1-4 文章架構………………………………………………………6
第二章 控制求次佳解……………………………………8
2-1 基本預備定理…………………………………………………9
2-2 頻域的誤差模式………………………………………………14
2-3 次佳化求解………………………………………………19
2-4 強韌穩定性問題………………………………………………24
第三章 迴路成型理論 …………………………………27
3-1 一般系統性能指標……………………………………………28
3-2 迴路成型概念…………………………………………………31
3-3 迴路成型…………………………………………………39
3-4 退化現象………………………………………………………43
第四章 靈敏度成型的概念 ………………………………47
4-1 迴路成型之缺點………………………………………………47
4-2 SISO之靈敏度成型……………………………………………49
4-3 MIMO之靈敏度成型……………………………………………56
第五章 靈敏度成型的探討 ………………………………61
5-1 SISO靈敏度成型的探討………………………………………61
5-2 MIMO靈敏度成型的探討………………………………………70
5-3 結構化不確定系統靈敏度成型的探討………………………76
第六章結論與未來展望 …………………………………81
6-1 結論……………………………………………………………81
6-2 未來展望………………………………………………………82
參考文獻 ……………………………………………………83


參考文獻[1] Andrew Sparks , Siva Banda , and His-Han Yeh“ A comparison of loop shaping techniques ”Proc. 30th Conf. On Dec. & Cont. , pp.235-240 , 1991.[2] Athanasios Pantas and Stephen Walsh “ Evaluation of loop shaping controller design on a process control problem ”UKACC Inter. Conf. On Cont. no.427 , pp.1040-1045 , 1996.[3] A. G. Sreenatha , Vivek Rajhans and Neeraj Bhardwaj “Robust Controller Design For A Skid to Turn Missile ”Acta Astronautica vol.45 , no.2 , pp.85-92 , 1999.[4] Craig Barratt , Stephen Boyd“ Interactive loop-shaping design of MIMO controllers”1992.[5] Cher-Hiang Goh and Georg Griibel and Rick. A. Hyde“ Robust Stabilization of a large flexible structure via normalized coprime factor plant description ”Proc. 31st Conf. On Dec. & Cont. , pp.347-351 , 1992.[6] Chin Tae Choi , Jong Shik Kim and Ki Nam Peak “Robust Loop Shaping control of servo systems ”IEEE , pp.547-552 , 1995.[7] Ciann-Dong Yang , Chia-yuan Chang and Yun-Ping Sun“Synthesis of Optimal Controllers via LQG-Based Loop shaping Design”1996.[8] Cheng-Hsien Liu , Howard K. Rockstad and Thomas W. Kenny “Robust Controller design via -synthesis for high-performance micromachined tunneling accelerometers” Proceeding of American control conference San Diego, California , 1999.[9] Duncan McFarlane and Keith Glover “ An design procedure using robust stabilization of normalized coprime factors ”Proc. 27th IEEE Conf. On Dec. and Cont. , pp.1343-1348 , 1988.[10] Duncan McFarlane and Keith Glover and M. Noton ”Robust stabilization of a flexible space platform : an coprime factor approach ”Control 88 , IEEE Conf. Oxford , 1988.[11] D. C. McFarlane and K. Glover “Robust controller design using normalized coprime factor plant descriptions ”in Lecture Notes Contr. Inform. Sci. : Springer Verlag , 1990.[12] Duncan McFarlane and Keith Glover “A loop shaping design procedure using Synthesis ”IEEE Trans. Autom. Contr. , vol.37 , pp.759-769 , 1992.[13] Declan G. Bates , Sarah L. Gatley , Ian Postlethwaite “ Integrated flight and propulsion control system design using loop-shaping techniques ”Proc. 38th Conf. On Dec. & Cont. , pp.1523-1528 , 1999.[14] E. J. M. Geddes and I. Postlethwaite“ An based loop shaping method and -synthesis ” Proc. IEEE Conf. On Dec. and Cont. , Brighton , pp.533-538 , 1991.[15] Elena Grassi and Kostas Tsakalis“PID controller tuning by frequency loop-shaping : application to diffusion furnace temperature control” IEEE Trans. On Cont. Sys. Tech. , vol.8 , no.5 , pp.842-847 , 2000.[16] F. N. Bailey and C. H. Hui “CACSD tools for loop gain-phase shaping design of SISO robust controllers ”IEEE 1989.[17] F. N. Bailey and C. H. Hui “ Loop gain-phase shaping for single-input-single-output robust controllers ”IEEE Cont. Sys. , pp.93-101 , 1991.[18] Fernando Tadeo , Omar Perez Lopez and Teresa Alvarez“ Control of Neutralization Processes by robust loop shaping ”IEEE Trans. Contr. Syst. Tech. , VOL.8 , NO.2 , pp.236-246 , 2000.[19] Habets L. C. G. J. M. “ Robust Stabilization in the Gap-topology ” Springer Verlag, Berlin , 1991.[20] Helene Panagopoulos and Karl J Astrom “ PID control design and loop shaping ”Proc. IEEE Inter. Conf. On Con. Applic. , pp.103-108 , 1999.[21] Huang Yimin , Xia Yuncheng and Wang Yong “ Robust controller design by loop shaping approach ”, 2000.[22] I. M. Horowitz“ Synthesis of Feedback Systems” Academic Press , New York ,1963.[23] I. Postlethwaite , J. L. Lin and D. W. Gu “A loop-shaping approach to robust performance for SISO systems ”Trans Inst MC , vol.13 , no.5 , pp.262-268 , 1991.[24] J. Doyle and G. Stein “ Multivariable feedback design : Concepts for a classical/modern synthesis” IEEE Trans. Automat. Contr. , vol.AC-26 , pp.4-16 , 1981.[25] J. C. Doyle, K. Glover, P.P. Khargonekar B. A. Francis “ State-space solutions to standard and control problems ”IEEE Trans. Automat. Contr. Vol. AC-34 , No. 8 , pp.831-847 , 1989.[26] J. C. Doyle, B. Francis and A. Tannenbaum “Feedback control theory ”New York : Macmillan 1992.[27] James Whidborne , I. Postlethwaite and D. W. Gu “Robust controller design using loop-shaping and the method of inequalities ” IEEE Trans. Contr. Sys. Tech. , VOL.2 , pp455-461 , 1994.[28] Jie Feng and Malcolm C. Smith “ When is a controller optimal in the sense of loop-shaping? ”IEEE Trans. On Auto. Cont. , vol.40 , no.12 , pp.2026-2039 , 1995.[29] K. Glover “All optimal Hankel norm approximations of linear multivariable systems and their -error bounds ”Int. J. Control , 39:1115-1193 , 1984.[30] K. Glover and J. Doyle “State-space formulae for all stabilizing controllers that satisfy an norm bound and relations to risk sensitivity ”Sys. And Contr. Letters, 11:167-172 , 1988.[31] K. Glover and D. McFarlane “ Robust stabilization of normalized coprime factors : an explicit Hinf solution ”Proceedings of American Control Conference , 1988.[32] Keith Glover and Duncan Mcfarlane “ Robust stabilization of normalized coprime factor plant descriptions with -bounded uncertainty ”IEEE Trans. On Auto. Cont. , 34:8 , pp.821-830 , 1989.[33] Kyeong Ho Bang and Hong Bae Park“ Analysis of robust performance improvement using loop shaping and structured singular value ”, 1996.[34] K. Zhou , J. C. Doyle and K. Glover “ Robust and Optimal Control ” Prentice Hall , Upper Saddle River , New Jersey , 1996.[35] K. Zhou and J. C. Doyle “Essentials of Robust Control ”Prentice Hall , Upper Saddle River , New Jersey , 1998.[36] Kostas Tsakalis and Sachi Dash“ Loop-Shaping Controller Design from Input-Output Data ”Proc 38th Conf. On Dec. & Cont. , pp1511-1516 , 1999.[37] Liyu Cao and Yoichi Hori “ Mixed sensitivity optimization to avoid pole/zero cancellation ”Automatic , vol.33 , no.7 , pp.1379-1385 , 1997.[38] M. Vidyasagar“ Control System Synthesis : A Coprime Factorization Approach ”MIT Press , 1985.[39] Masayuki Fujita , Kazuhiro Hatake and Fumio Matsumura “ Loop shaping based robust control of a magnetic bearing ” IEEE Cont. Sys. , pp.57-65 , 1993.[40] Meihua Tai and Masayoshi Tomizuka “ Nonlinear robust loop shaping controller design for automated lane guidance of heavy vehicles ”Proc. Of American Control Conference , pp2028-2032 , 2000.[41] P. Ambos , G. Duc , CM. Falinower “ Loop shaping design applied to the Steam Generator Level Control in EDF nuclear Power Plants” proc. IEEE Inter. Conf. on Cont. App. Dear. , pp.751- 756 , 1996.[42] Robert J. Adams and Jonathan R. Bar-on “ Loop Shaping to Improve the Multivariable Phase Margin ”Proc. 37th IEEE Conf. On Dec. & Cont. ,pp.2757-2762 , 1998.[43] S. Mammar and G. Duc “Loop shaping design applied to the robust stabilization of an Helicopter ”IEEE , pp.806-811 , 1992.[44] S. Adusumilli , D. E. Rivera , S. Dash and K. Tsakalis“ Integrated MIMO Identification and robust PID Controller design through loop shaping ”Proc. of ACC , pp.1230-1234 , 1998.[45] Sujit Gaikwad , Sachi Dash and Gunter Stein“ Auto-tuning PID using loop-shaping ideas” Proc. IEEE Inter. Conf. On Con. Appl. , pp.589-593 , 1999.[46] S. Craig Smith and William Messner “Loop Shaping with Closed-Loop Magnitude Contours on the Bode Plot ”Proceeding of the American Control Conference Anchorage, AK May 8-10, 2002.[47] T. S. Lee , S. J. Chiang and J. M. Chang“ loop-shaping controller designs for the single-phase UPS inverters” IEEE , pp.1397-1402 , 2000.[48] Wolfgang Reinelt “ Loop Shaping for Systems with Hard Bounds”,2001.[49] W. Tan and J. Liu and P.K.S. Tam “PID tuning based on loop-shaping control” IEEE Proc. Cont. Theory Appl. , vol.145 , no.6 , pp.485-490 ,1998.[50] Zhiqiang Gao “ An algorithmic approach to loop shaping with applications to self-tuning control systems” Proc. of the 1993 International Symposhim on Intel. Cont. pp.13-18 , 1993.[51] 楊憲東、葉芳柏“ 線性與非線性 控制理論 ”全華科技圖書 , 1999.[52] 李建德“ 基於迴路整型的強健控制器設計 ”中山大學機械工程研究所碩士論文 , 民國九十年七月.[53] 邱贊勳“ 線性非時變系統間隙度量控制器之研究 ”中山大學機械工程研究所碩士論文 , 民國九十年七月.

QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top