臺灣博碩士論文加值系統

本論文探討取樣時間線性非時變系統的反覆學習控制器之設計。在考慮初始誤差、輸入干擾及輸出雜訊的影響下，我們提出一個使用結合即時誤差與遺忘因子的取樣時間P型反覆學習控制器，在數位化的實做考量下，詳細分析整個系統的收斂性與強健性。除了完整的理論證明之外，論文中並經由電腦模擬與實際硬體實驗證實其理論結果。
反覆學習系統的性能改善一直是這個領域非常重要的問題，在實做上的應用也是不可忽視的課題。本論文以最實務導向的取樣時間系統架構來設計並分析學習控制器，研究證明利用即時誤差的P型反覆學習控制器，不需要回授輸出訊號的微分，且學習增益矩陣的設計簡單，若學習增益矩陣的最小特徵值增加，則追蹤速度和追蹤效能都能顯著的提升。當所有的不確定性和遺忘因子都趨近於零，在最終的反覆學習輸出誤差也將趨近於零。另外，本論文的學習控制系統在收斂速度上也較傳統P型反覆學習控制器為佳。
最後，本文除了使用Matlab在電腦上做數值模擬以及驗證理論之外，並使用數位訊號運動控制卡和直流馬達模組來實際實現本文所使用的控制法則，由模擬與實驗結果均證實本論文的理論是可行的。

This thesis discusses the design of sampled-time iterative learning controller for linear time-invariant systems. A P-type iterative learning controller combining the concept of current error and forgetting factor is proposed for systems with initial state errors, input disturbance and output measurement noise. The convergence and robustness of the iterative learning system are studied extensively. In addition to a complete theoretical analysis, the computer simulations and hardware experiments are given to demonstrate the effect of the iterative learning controller.
The performance improvement and practical realization of iterative learning systems are important issues in this field. It is shown that the differentiation of output error is not needed and the design of learning gain matrix is simple in the proposed iterative learning controller. If the smallest eigenvalue of the learning gain matrix increases, the learning rate and tracking performance can be improved significantly. When all the uncertainties and forgetting factor tend to zero, the tracking error will converge to zero in the final iterate.
Finally, in addition to numerical simulations by Matlab program, a digital signal processor motion control card and a DC motor are also used to implement the controller. The experiments validate all the theoretical results given in the thesis.

誌謝…………………………………………………………………………I
摘要…………………………………………………………………………II
ABSTRACT……………………………………………………………………III
目錄…………………………………………………………………………IV
圖錄…………………………………………………………………………VI
表錄…………………………………………………………………………VIII
第一章 緒論………………………………………………………………1
1.1 緣由……………………………………………………………………1
1.2 基本觀念………………………………………………………………2
1.3 反覆學習控制器的形式………………………………………………3
1.4 硬體架構………………………………………………………………5
1.5 本文架構………………………………………………………………6
第二章 取樣時間反覆學習控制系統……………………………………8
2.1 取樣時間反覆學習控制系統的設計與分析…………………………8
2.2 模擬範例………………………………………………………………18
第三章 硬體架構與實驗結果……………………………………………29
3.1 直流馬達運動控制系統架構說明……………………………………29
3.2 DSP 運動控制卡介紹…………………………………………………32
3.2.1 DSP運動控制卡I/O介紹……………………………………………32
3.2.2 TMS320F243…………………………………………………………33
3.2.3 波寬調變驅動器……………………………………………………33
3.3 直流無刷馬達工作原理………………………………………………34
3.3.1 霍爾元件(Hall Effect Sensor)…………………………………36
3.3.2 光學編碼器(Photo Encoder Sensor)……………………………37
3.3.3 功率放大器…………………………………………………………40
3.4 伺服馬達控制迴路架構………………………………………………41
3.5 軟體操作與實驗結果…………………………………………………44
3.5.1 DSP 控制器的軟體說明……………………………………………44
3.5.2 Matlab程式設計……………………………………………………46
3.5.3 實驗結果與討論……………………………………………………52
第四章 結論與建議………………………………………………………65
參考文獻……………………………………………………………………66

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