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研究生:陳義方
研究生(外文):Yi-Feng Chen
論文名稱:具飽和輸入系統之參考模型適應控制與高階微分器結合之研究
論文名稱(外文):The Combination Research of Model Reference Adaptive Control and High-order Differentiator for the Systems with Input Saturations
指導教授:張國明
指導教授(外文):Kuo-Ming Chang
學位類別:碩士
校院名稱:國立高雄應用科技大學
系所名稱:機械與精密工程研究所
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:2008
畢業學年度:96
語文別:中文
中文關鍵詞:參考模型輸入飽和適應控制高階微分器
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在實際控制過程中經常遭遇系統參數變異不確定性、輸入飽和非線性(input saturation nonlinearity)及系統輸出導數量測不易等問題;若不能適當地設計控制器來處理這些問題,則系統控制性能將會嚴重惡化甚至發生系統不穩定現象。本論文將具飽和非線性現象系統之模型參考適應控制(MRAC)結合高階微分器(High-order differentiator, HOD),提出具系統狀態觀測基礎之模型參考適應控制方法。所提出的控制方法除免於系統輸出微分需求限制條件外,並能達成具非線性輸入不確定系統輸出確實追蹤參考模型輸出之控制目標。論文最後提出電腦模擬成果以彰顯所提出控制方法之成效。
Parameter variation uncertainties, input saturation nonlinearity, and immeasurable system output derivatives are usually encountered in the practical control process. If a controller can not be designed correctly to deal with these problem, they may cause a serious degradation of the system control performance or result in the phenomena of an unstable system. In this thesis, we will combine model reference adaptive control and high-order differentiator to propose a system state observer-based model reference adaptive control method for the system with input saturation. In addition to without the restrict condition of system outout derivative requirement, the proposed control scheme can acieve the system output tracking control objective satisfactorily. Finally, some computer simulation results are given to validate the effectiveness of the proposed control method.
中文摘要 ------------------------------------------------i
英文摘要 ----------------------------------------------- ii
誌 謝 ---------------------------------------------- iii
目 錄 ------------------------------------------- iv
圖目錄 --------------------------------------------- vi
符號說明 ------------------------------------------------ x
第一章 緒論 ----------------------------------------------1
1.1 文獻回顧 -------------------------------------------1
1.2 研究動機與目---------------------------------------- 2
1.3 論文架構 -------------------------------------------3
第二章 高階微分器 ----------------------------------------4
2.1 前言 --------------------------------------------- 4
2.2 高階微分器介紹 ------------------------------------ 4
2.3 電腦模擬 ------------------------------------------7
2.4 結論 ---------------------------------------------10
第三章 具飽和輸入系統之結合高階微分器之模型參考適應控制 ---11
3.1 適應控制與高階微分器結合 ------------------11
3.2 結合高階微分器之模型參考適應控制設計 -----------12
3.2.1 單輸入單輸出系統------------------------------12
3.2.2 多輸入多輸出系統 --------------20
第四章 模擬結果與討論 ----------------------- 28
4.1 二階非線性具擾動系統 --------------------------- 28
4.1.1 模擬結果與討論 ---------------------28
4.2 永磁同步馬達模擬 -------------------------34
4.2.1 模擬結論與討論 ------------------------------35
4.3 永磁無刷直流馬達 -------------------------------44
4.3.1 模擬結果與討論 -----------------------------45
4.4 多輸入多輸出系統模擬 --------------------------53
4.4.1 模擬結果與討論 -----------------------------55
第五章 結論與未來展望 --------------------------67
5.1 結論--------------------------------------67
5.2 未來展望-------------------------------------67
參考文獻 ---------------------------------------------68
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