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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 王富正(Fu-Cheng Wang) | |
dc.contributor.author | Chia-Hui Chen | en |
dc.contributor.author | 陳家慧 | zh_TW |
dc.date.accessioned | 2021-06-16T16:45:53Z | - |
dc.date.available | 2014-08-28 | |
dc.date.copyright | 2012-08-28 | |
dc.date.issued | 2012 | |
dc.date.submitted | 2012-08-20 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/63502 | - |
dc.description.abstract | 本文將探討二種旋轉型倒單擺系統:Furuta與Pendubot系統,首先,我們推導系統的動態方程式,並藉由SimMechanics及AutoSim來驗證數學模型之正確性,再來為了控制器設計,我們利用SimMechanics建構更複雜的多擺系統模型,然後利用能量法設計甩上控制器,以及四種平衡控制器:LQR控制、Pole placement控制、及 強韌控制及 定階控制器。最後,我們將控制器安裝於 PC-based 系統進行性能驗證,並進一步將其安裝於單晶片系統,達到系統微小化及降低成本的目的。 | zh_TW |
dc.description.abstract | This thesis discusses two kinds of rotational inverted pendulum systems: Furuta and Pendubot systems. First, we derive the dynamics of these systems, and compare them with the SimMechanics and AutoSim models for verification. Second, we use the software to build the complex models of multi-pendulum systems for controller design. Third, we design the swing-up controller and balance controllers (LQR, Pole placement,Robust, fixed-order robust control.) for these systems. Lastly, we implemented the designed controllers on a PC-based system to verify system performance. In addition, we also use a micro-chip system for system miniaturization and cost reduction. Based on the results, the proposed systems are deemed effective. | en |
dc.description.provenance | Made available in DSpace on 2021-06-16T16:45:53Z (GMT). No. of bitstreams: 1 ntu-101-R99522802-1.pdf: 4437116 bytes, checksum: 80bf792adc40ba6f4e5f5427ac84636f (MD5) Previous issue date: 2012 | en |
dc.description.tableofcontents | 致謝 I
中文摘要 II Abstract III 目錄 IV 圖目錄 VIII 表目錄 XIII 第一章 序論 1 1.1 前言 1 1.2 文獻回顧 2 1.3 研究目的 7 1.4 論文架構 7 第二章 實驗架構與硬體介紹 9 2.1 實驗架構流程 9 2.2 硬體架構 11 2.3 單擺(雙擺/三擺)系統及相關重要參數 14 2.4 馬達相關重要參數 16 第三章 系統之數學模型建立 19 3.1 單擺、雙擺及三擺系統之各式平衡點介紹 19 3.2 Furuta單擺之機構模型動態方程式推導 26 3.2.1 Furuta單擺之拉格朗日方程式(Lagrange’s Equation)推導 26 3.2.2 Furuta單擺之牛頓第二運動定律(Newton's second law of motion)推導 33 3.3 Pendubot單擺之機構模型動態方程式推導 36 3.4 機電數學模型 40 3.4.1 直流馬達控制架構 40 3.4.2 單擺之機電模型動態方程式 43 3.5 Furuta及Pendubot單擺之數學模型驗證 46 3.5.1 SimMechanics及Autosim模型 47 3.5.2 機構模型驗證 50 3.5.3 機電模型驗證 52 3.6 Furuta系統及Pendubot系統之多擺直流馬達數學模型之建立 56 第四章 控制器設計 59 4.1 切換控制器 59 4.2 甩上控制器 62 4.3 平衡控制器- Pole placement控制器、LQR控制器 66 4.3.1 極點配置法(pole-placement) 67 4.3.2 LQR (Linear Quadratic Regulator) 69 4.4 平衡控制器- 強韌控制器 71 4.4.1 系統不確定性 71 4.4.2 強韌性概念與分析 74 4.4.3 線性分式轉換與互質因式分解 76 4.4.4 迴路成型設計(loop shaping) 82 4.4.5 降階系統的計算 86 4.4.6 定階控制器設計 88 第五章 控制器設計模擬與實驗結果 91 5.1 系統模擬及程式架構 91 5.1.1 系統模擬架構 91 5.1.2 程式架構 96 5.2 Furuta系統實驗結果 101 5.2.1 Furuta單擺系統 102 5.2.2 Furuta雙擺系統 112 5.2.3 Furuta三擺系統 122 5.3 Pendubot系統實驗結果 125 5.3.1 Pendubot單擺系統 125 5.4 實驗結果討論 146 5.4.1 平衡控制器實驗結果分析 146 5.4.2 平衡控制器強韌性分析 152 5.4.3 控制器之切換角度大小分析 158 5.4.4 控制器之追跡性能分析 162 第六章 單晶片實現倒單擺系統 165 6.1 單晶片架構 165 6.1.1 單晶片介紹 165 6.1.2 單晶片裝置系統整合 167 6.2 實驗結果 172 6.2.1 Furuta單擺實驗結果 172 6.2.2 Pendubot-12單擺實驗結果 176 6.2.2 Pendubot-13單擺實驗結果 180 6.3 實驗結果分析 184 第七章 結論與未來展望 187 7.1 結論 187 7.2 未來展望 188 參考文獻 189 附錄-數學模型總表 195 單擺數學模型 195 雙擺數學模型 195 三擺數學模型 198 口試委員問題及回答 205 | |
dc.language.iso | zh-TW | |
dc.title | 各式倒單擺系統之強韌控制器設計與性能分析 | zh_TW |
dc.title | Design and Performance Analysis of the Robust Controller for Inverted Pendulum Systems | en |
dc.type | Thesis | |
dc.date.schoolyear | 100-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 林沛群(Pei-Chun Lin),李綱(Kang Li) | |
dc.subject.keyword | 倒單擺,雙連桿倒單擺,強韌控制,平衡控制, | zh_TW |
dc.subject.keyword | Inverted pendulum,Furuta,Pendubot,H-infinity control,balance control, | en |
dc.relation.page | 207 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2012-08-21 | |
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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