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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 陳明新(Min-Shin Chen) | |
| dc.contributor.author | Chih-Hsien Chung | en |
| dc.contributor.author | 鍾智賢 | zh_TW |
| dc.date.accessioned | 2021-05-20T21:23:23Z | - |
| dc.date.available | 2011-08-24 | |
| dc.date.available | 2021-05-20T21:23:23Z | - |
| dc.date.copyright | 2010-08-24 | |
| dc.date.issued | 2010 | |
| dc.date.submitted | 2010-08-22 | |
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| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/10360 | - |
| dc.description.abstract | 本論文提出一新的適應性前饋控制設計(AFC)技術來達成週期性追蹤和�或週期性干擾消除。與傳統的AFC相比較，主要的不同點是運用重新參數化的回歸式於適應性機制。這控制架構是包含一像干擾觀測器(DOB-like)的架構來產生一經系統濾波後的週期性訊號，和一訊號辨識器來對此訊號進行參數識別。因此，AFC控制系統的穩定問題不再受到受控體架構的影響。本論文更進一步利用此重新參數化的技術於新的干擾估測器設計，進而獲得此新AFC設計方法的一重複控制的通式。
不同於以往的適應性設計，本方法有以下的優點：第一點是它的增益可以任意選擇而不影響控制系統的穩定度。第二點是透過重新參數化過程，它不需反轉系統模式，可以適用於極小相與非極小相系統。第三點是它顯示週期性干擾輸入點與控制設計無關。第四點是本方法可運於線性系統有存在不確定性。最後一點是此新AFC控制與基於干擾觀測器的控制有一等價關係的表示，進而提供可應用彼此相關領域之控制知識的機會，因此，AFC的適應性增益可以藉由任何線性控制方法或適應性方法更有效率的選擇，如特徵值安置，卡曼濾波器和最小平方法等。另外，在控制設計方面，此控制技術提供工程師一非常友善及直覺的設計。 | zh_TW |
| dc.description.provenance | Made available in DSpace on 2021-05-20T21:23:23Z (GMT). No. of bitstreams: 1 ntu-99-D93522032-1.pdf: 2105485 bytes, checksum: a51da568e3c04e4b8b2f048feb3daa9d (MD5) Previous issue date: 2010 | en |
| dc.description.tableofcontents | Abstract I
List of Figures V List of Tables IX 1 Introduction 1 1.1 Motivation 1 1.2 Literature Survey 2 1.3 Overview of the Dissertation 6 2 Review of Internal Model Based Repetitive Control 9 2.1 Periodic Signal 10 2.2 InternalModel Principle 11 2.3 Time Delay Repetitive Control 12 2.4 Plug-in Time Delay Repetitive Control 15 3 AFC Control 19 3.1 Review of Adaptive Algorithm 21 3.2 ProblemFormulation 22 3.3 Linear Regression Form 23 3.4 Review of Adaptive Feedforward Control 29 3.5 New AFC Design for Open-Loop Stable System 35 3.5.1 Gradient Based AFC 35 3.5.2 LS Based AFC 41 3.6 New AFC Design for Open-Loop Unstable System 46 3.7 Robustness Analysis 50 3.8 Adaptive Disturbance Estimation 62 4 Disturbance Observer Based Control 71 4.1 Review of Disturbance Observer Based Control 72 4.1.1 Disturbance Observer Based Control 72 4.1.2 Unknown Input Disturbance Observer Based Control 78 4.2 New Disturbance Observer Based Control 82 4.3 DOB-AFC design 84 4.4 Robustness Analysis 88 5 Conclusions 91 Bibliography 93 | |
| dc.language.iso | en | |
| dc.title | 一新適應性方法之重複控制器設計 | zh_TW |
| dc.title | A New Adaptive Approach to the Repetitive Controller Design | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 98-2 | |
| dc.description.degree | 博士 | |
| dc.contributor.oralexamcommittee | 黃衍任(Yean-ren Hwang),傅立成(Li-Chen Fu),顏家鈺(Jia-Yush Yen),王富正(Fu-Cheng Wang) | |
| dc.subject.keyword | 重複控制,適應性前饋消除,干擾觀測器,週期性干擾消除,內模式控制,週期性追蹤控制, | zh_TW |
| dc.subject.keyword | repetitive control,adaptive feedforward cancellation,disturbance observer,periodic disturbance rejection,internal model control,periodic tracking control, | en |
| dc.relation.page | 97 | |
| dc.rights.note | 同意授權(全球公開) | |
| dc.date.accepted | 2010-08-23 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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