臺灣博碩士論文加值系統

本論文是針對串級式非線性系統來設計強健性控制器，而在實際的機電整合系統中，可以發現很多物理系統都屬於此類系統。基於可變結構控制理論，發展出兩種可變結構控制策略：串級式模糊李亞普若夫可變結構控制與複合式模糊李亞普若夫可變結構控制。
第一種控制策略的主要特點是串級式的設計架構，首先引入模糊李亞普若夫控制法則對治非線性系統的機械子系統，然後再以可變結構控制法則對治非線性系統的電驅動子系統形成串級式控制架構。第二種控制策略是在互補式可變結構控制架構下，分別對機械子系統與電驅動子系統設計可變結構控制法則；整體組合而成的控制律，稱為複合式模糊李亞普若夫可變結構控制器。
在理論驗證方面，以常見的標準模擬系統旋轉平移質量制動器及實際的雙旋轉翼設備來模擬及實驗。結果顯示本文所設計的控制器在系統參數變動及外部干擾時都能對平滑的時變訊號有傑出的追蹤能力。

In this thesis, we investigated the design of robust controllers for a class of cascade-connected nonlinear uncertain systems, which contains many mechatronic physical systems. On the basis of the variable structure system theory, we have successfully developed two stable variable structure control schemes, called the cascade fuzzy Lyapunov variable structure controller and the composite fuzzy Lyapunov variable structure controller, respectively, for this class of systems.
A key feature of the first control scheme is that a fuzzy Lyapunov based control law is firstly developed for the mechanical driven subsystem, and then a complementary variable structure control strategy is designed for the electrical driving subsystem. Based on the result of complementary variable structure control, the second control scheme, a composite design of fuzzy Lyapunov variable structure controllers for mechanical driven and electrical driving subsystems has been proposed.
The benchmark nonlinear systems, called TORA (Translational Oscillator with Rotational Actuator) and TRMS (Twin Rotor Multi-input multi-output System), were used to illustrate the controller design. Simulation and experimental results indicate the proposed control schemes are outstanding in tracking smooth time-varying signals in face of parameter uncertainties and of external disturbances.

中文摘要：--------------------------------------------------------------------Ⅰ
英文摘要：--------------------------------------------------------------------Ⅱ
誌謝：------------------------------------------------------------------------Ⅲ
目錄：------------------------------------------------------------------------Ⅳ
圖目錄：----------------------------------------------------------------------Ⅵ
第一章緒論---------------------------------------------------------------------1
1.1研究動機--------------------------------------------------------------------1
1.2文獻回顧--------------------------------------------------------------------4
1.3主要貢獻--------------------------------------------------------------------6
1.3論文組織--------------------------------------------------------------------7
第二章模糊李亞普若夫與可變結構控制---------------------------------------------8
2.1模糊李亞普若夫控制法則------------------------------------------------------8
2.1.1簡介----------------------------------------------------------------------8
2.1.2模糊李亞普若夫控制器------------------------------------------------------9
2.1.3設計步驟-----------------------------------------------------------------11
2.2可變結構控制法則-----------------------------------------------------------19
2.2.1簡介---------------------------------------------------------------------19
2.2.2滑動模式控制器-----------------------------------------------------------19
2.2.3設計步驟-----------------------------------------------------------------22
第三章對一簇非線性串級式系統設計模糊李亞普若夫可變結構控制--------------------28
3.1簡介-----------------------------------------------------------------------28
3.2串級式模糊李亞普若夫可變結構控制系統---------------------------------------30
3.2.1簡介---------------------------------------------------------------------30
3.2.2設計步驟-----------------------------------------------------------------31
3.3複合式模糊李亞普若夫可變結構控制系統---------------------------------------32
3.3.1簡介---------------------------------------------------------------------32
3.3.2設計步驟-----------------------------------------------------------------33
3.4數值模擬：旋轉平移質量制動器-----------------------------------------------37
3.4.1串級式模糊李亞普若夫滑動模式控制-----------------------------------------41
3.4.2複合式模糊李亞普若夫滑動模式控制-----------------------------------------43
第四章TRMS基本架構及其數學模式------------------------------------------------45
4.1問題陳述-------------------------------------------------------------------45
4.2數學模式推導及狀態方程式之描述---------------------------------------------47
4.2.1環繞於水平軸的作用力-----------------------------------------------------47
4.2.2環繞於垂直軸的作用力-----------------------------------------------------51
4.3 TRMS數學模型--------------------------------------------------------------54
4.3.1運動方程式---------------------------------------------------------------54
4.3.2主翼與尾翼馬達輸入電壓-轉速與轉速-推力的關係-----------------------------56
第五章硬體電路簡介與實測結果--------------------------------------------------57
5.1硬體電路簡介---------------------------------------------------------------57
5.2模擬與實測-----------------------------------------------------------------60
5.3結果與討論-----------------------------------------------------------------77
第六章結論與展望--------------------------------------------------------------78
6.1結論-----------------------------------------------------------------------78
6.2未來研究方向---------------------------------------------------------------78
參考文獻----------------------------------------------------------------------80
自傳--------------------------------------------------------------------------85

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