臺灣博碩士論文加值系統

直流馬達轉速控制系統在學理上係一高階、非線性、的時變系統，且極易受到外界的干擾而變成不可控。針對上述不穩定，高階非線性的時變受控系統，欲推導一簡單而正確的數學轉移函數，並藉而用以設計一個適當的傳統比例積分微分控制器PID實屬不易。因此本論文擬提出，內模控制IMC結合傳統PID控制器之改良型IMC-PID混合控制器的設計架構，應用在直流馬達轉速控制上，進而改良它整個閉迴路控制系統的響應。
最後並以理論推導及實驗驗證，該改良型IMC-PID混合控制器的強韌性與響應特性均較傳統PID控制器為佳。

The rotational speed control of DC motor system is a high-order, nonlinear and time-variant system, and it would become to be an unstable system while outside disturbances or unknown load existed. Because of uncertainty and unstability of the controlled system, it was very difficult to derive a simple and accurate mathematical transfer function for a traditional controller design such as PID control as well as internal model control IMC. This paper incorporates the IMC control architecture with PID control theory for the rotational speed control of DC motor system, in order to improve the performance and stability of the overall closed-loop system.
Eventually, the robustness and performance of the proposed advanced IMC-PID hybrid control architecture was proved to be better than those of a traditional PID control through the verification of experiment results and the proof of mathematical theory.

摘　要 i
ABSTRACT ii
誌　謝 iii
目　錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1前言 1
1.2文獻回顧 2
1.3研究動機與目的 3
第二章 IMC控制理論 4
2.1傳統IMC控制理論架構 4
2.2 改良型IMC-PID混合控制器理論架構 6
2.3控制誤差總和與誤差性能指標 9
第三章 實驗設備與流程 11
3.1實驗設備 11
3.1.1 DC馬達運動控制系統 11
3.1.2 RT-DAC4/PCI運動控制介面卡 12
3.2實驗流程 14
第四章 結果與討論 15
4.1無干擾下方波輸入指令，控制器性能比較 16
4.2無干擾下三角波輸入指令，控制器性能比較 19
4.3方波輸入指令加內部控制干擾，控制器性能比較 22
4.4方波輸入指令加外部量測干擾，控制器性能比較 25
第五章 結論與未來展望 29
5.1結論 29
5.2未來展望 30
參考文獻 31

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