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研究生:吳旭焜
研究生(外文):Hsu-Kun Wu
論文名稱:一簇非線性系統可變結構控制及其在雙旋轉翼系統的應用
論文名稱(外文):Variable Structure Control of a Class of Nonlinear Systems and Its Application to a Twin-Rotor Multi-Input Multi-Output System
指導教授:陳中政陳中政引用關係蘇仲鵬蘇仲鵬引用關係
學位類別:碩士
校院名稱:國立雲林科技大學
系所名稱:電機工程系碩士班
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:2003
畢業學年度:91
語文別:中文
論文頁數:93
中文關鍵詞:互補式可變結構控制器雙旋轉翼系統串級式非線性系統
外文關鍵詞:TRMS (Twin Rotor Multi-input Multi-output Systemcomplementary variable structure controlcascade-connected nonlinear systems.
相關次數:
  • 被引用被引用:3
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本論文針對一實驗用的雙旋轉翼多輸入/輸出系統(TRMS)來探討其追蹤與定位控制的問題。雙旋轉翼系統如圖1.1所示,有一支金屬連桿透過兩個軸承連接於基座,使得金屬連桿可以自由的沿著水平與垂直方向作旋轉運動,在連桿的兩端分別裝設兩具由直流馬達驅動的螺旋槳,兩組螺旋槳的角度為互相垂直,可分別產生垂直面(俯仰角)與水平面(方位角)的運動。另外,有一平衡垂連接於T型連桿的底部,可決定連桿平衡的位置。經由改變馬達的輸入電壓使轉速改變,螺旋槳的推進力也就跟著改變,使連桿產生轉動。控制的目標是:在給定任意投擲角 與方位角 的設定值,設計一控制器使得連桿能快速且準確的到達指定的位置。
控制器方面,由於施加於機械結構的控制輸入量與產生的輸出推力呈現非線性的關係,很難用已知的數學函數明確的加以描述,再加上機械結構本身的非線性現象,提高了控制器設計的困難度。本論文是針對串級式非線性系統來設計強健控制器,這類的控制器目前的研究並不多。基於可變結構控制器的基礎理論,我們發展出新的控制器:互補式可變結構控制器。該控制器的主要特點是增加了一個與一般的廣義誤差互補的廣義誤差量,形成了十分有效的誤差量測,進而設計出新型式的互補式可變結構控制器,以改善系統的動態行為及其穩態誤差。
In this thesis, we investigate the tracking control problem of an experimental set up, called the Twin Rotor Multi-input multi-output System (TRMS). A schematic diagram is shown in Fig. 1.1. A metal beam is connected to its base by two ball bearings, such that it can move freely in the horizontal and vertical directions. At both ends of the beam, there are two propellers driven by DC-motors. The propellers are positioned perpendicularly to each other such that only one propeller can effect the movement in the vertical plane (pitch angle) or in the horizontal plane (azimuth angle). There is a counter-weight fixed to the beam and it determines a stable equilibrium position. By varying the supply voltages, the angular velocities of the motors are changed and will result in changes of the propulsive forces on the beam perpendicular to the propellers, which in term will result in a movement of the beam. The control objective is to make the beam move quickly and accurately to a specified altitude, given in the form of the set points for the pitch angle and the azimuth angle .
Because the inherent nonlinear relationship between the input control voltage and the propulsive force can hardly be described using available mathematical functions, it remains a challenging nonlinear control problem. In this dissertation, we investigated the design of robust controllers for a class of cascade-connected nonlinear uncertain systems, which have not yet been thoroughly discussed. On the basis of the variable structure system theory, we developed a novel stable variable structure control scheme, the complementary variable structure controller, for this class of systems. A key feature of this control scheme is the introduction of a new generalized error as a complement to the conventional generalized error to form a meaningful error measure so that a new variable structure controller can be constructed to improve the reaching behavior of the system during the reaching phase as well as the tracking precision while in the boundary layer.
中文摘要 I
英文摘要 II
目錄 V
圖目錄 VII
表目錄 XI
第一章 緒論 1
1.1 研究問題的背景與目的 1
1.2 研究方法與步驟 3
1.3 論文架構 5
第二章 TRMS 基本架構及其數學模式 6
2.1 問題描述 7
2.2 數學模式推導及狀態方程式之描述 8
2.2.1系統的運動方程式 8
2.2.2環繞於垂直軸的作用力 12
2.3 .TRMS數學模型 15
2.3.1 運動方程式 15
2.3.2 主翼與尾翼直流馬達輸入電壓-轉速
與旋翼轉速-推力的關係 16
第三章 可變結構控制介紹 18
3.1可變結構控制 18
3.2 滑動模式控制 24
3.2.1邊界層滑動模式控制 28
3.2.2時變的邊界層滑動模態控制 31
第四章 互補式可變結構控制介紹 34
4.1互補式可變結構控制設計 34
4.1.1互補式可變結構控制設計(一) 34
4.1.2互補式可變結構控制設計(二) 41
4.2互補式可變結構控制應用於TRMS系統 53
4.2.1 主翼控制器 53
4.2.2 尾翼控制器 55
4.3 濾波器 58
第五章 硬體電路簡介與模擬實測結果 60
5.1硬體電路簡介 60
5.2模擬與實測結果 63
5.3分析結果 84
第六章 結論與未來研究方向 85
6.1結論 85
6.2未來研究方向 86
參考文獻 87
附錄 90
作者簡介 92
參考文獻

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