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研究生:郭昱廷
研究生(外文):Yu-Ting Kuo
論文名稱:具有死區非線性輸入系統之基于觀測器之適應滑動模態控制
論文名稱(外文):The study of extension state observer-based adaptive sliding mode control for the system with dead-zone nonlinear input
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:2009
畢業學年度:97
語文別:中文
論文頁數:99
中文關鍵詞:適應性控制滑動模態控制擴張狀態觀測器死區
外文關鍵詞:Adaptive controlSliding mode controlExtension state observerdead-zone
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本論文結合適應滑動模態控制(ASMC)與擴張狀態觀測器(Extension State Observer,ESO),處理系統具死區非線性輸入、系統模型未知、外部干擾以及系統輸出導數變數不易量測得到的問題。建立一適應律以估測死區參數,以補償死區非線性輸入缺失;利用擴張狀態觀測器估測系統狀態變數,以及包含外部干擾之未知系統模型,進行滑動模態控制設計,進而使得控制性能有所改善。經由Lyapunov穩定定理數學分析,證明所研究的控制方法可以確保整個控制系統的穩定,而且皆為有界,系統的輸出可以達成好的輸出追蹤效果。論文最後提出電腦模擬成果,以彰顯所提出之控制方法的成效。
An adaptation law is constructed to estimate dead-zone parameters, which will be used for compensating the shortcomings of the nonlinear input dead-zone; an extension state observer is also used to estimate system state variables and unknown system model include external disturbance, and then an adaptive sliding mode control is designed such that the control performance can be improved satisfactorily. Through Lyapunov stability analysis, it is proved that the proposed control method can ensure the controlled system stable and that the system output can achieve an excellent output tracking control performance. Finally, some computer simulation results are given to show and validate the effect of the proposed observer-based adaptive sliding mode control scheme.
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 研究目的與動機………………………………………………………1
1.2 文獻回顧………………………………………………………………4
1.3 論文架構………………………………………………………………7
第二章 滑動模態控制理論與擴張狀態觀測器……………………………………8
2.1 前言……………………………………………………………………8
2.2 滑動模態控制理論……………………………………………………8
2.3 擴張狀態觀測器………………………………………………………14
第三章 擴張狀態觀測器基礎之適應滑動模態控制………………………………26
3.1 前言……………………………………………………………………26
3.2 系統問題與描述………………………………………………………28
3.3 擴張狀態觀測器基礎之適應滑動模態控制設計……………………32
3.3.1 滑動平面設計………………………………………………………33
3.3.2 等效控制之求取……………………………………………………39
3.3.3 近乎死區輸出之求取………………………………………………43
3.3.4 控制輸入之求取……………………………………………………45
3.4 系統穩定性分析………………………………………………………50
第四章 模擬結果與討論……………………………………………………………55
4.1 前言……………………………………………………………………55
4.2 二階非線性時變系統…………………………………………………55
4.3 倒單擺系統……………………………………………………………64
4.4 超音波馬達……………………………………………………………74
4.5 永磁無刷直流馬達……………………………………………………83
第五章 結論與未來展望……………………………………………………………93
5.1 結論……………………………………………………………………93
5.2 未來展望………………………………………………………………94
參考文獻………………………………………………………………………………95
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