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標題: | 基於全通式濾波建構的內部模型控制器在光學振鏡的應用 Galvanometer Control with All pass based Internal Model Principle Controller |
作者: | 蘇詩媚 Shi-Mei Su |
指導教授: | 李宇修 Yu-Hsiu Lee |
關鍵字: | 內部模型原理,全通濾波器,適應性濾波器,已知窄頻訊號追蹤, Internal model principle,All pass filter,Adaptive filter,Reference tracking,Disturbance rejection, |
出版年 : | 2023 |
學位: | 碩士 |
摘要: | 本研究旨在開發一種能夠廣泛應用於光路導引系統的精密且完善的雷射追蹤控制方法。為了實現這一目標,我們提出了一種高性能且數值穩定的全通式內部模型控制器,該控制器能夠有效追蹤窄頻訊號。
全通式內部模型控制器是一種基於內部模型的控制演算法。它通過全通濾波器建立與窄頻訊號輸入相關的內部模型,並將針對目標頻率的全通式峰值濾波器引入回授控制系統中,從而實現窄頻訊號的追蹤。此外,全通式控制器還可以獨立設計相位響應的特性,同時不影響幅值響應。相較於其他現有的控制方法,全通式內部模型控制器具有更高的數值穩定度。這是因為全通式內部模型控制器的係數是直接根據目標頻率生成的轉移函數,而不需要將多個目標頻率的轉移函數進行乘法疊加。這種特性使得該控制器在受到位數量化時具有更好的穩定性。 除了窄頻訊號追蹤,光路導引系統還可能受到外界擾動的影響,這可能阻礙追蹤控制的有效實現。為了應對這個問題,本研究同時採用了干擾觀察器和適應性濾波器。干擾觀察器用於實時檢測外界擾動訊號,並將適應性濾波器估計的外界擾動頻率資訊應用於建構全通式凹陷濾波器,以實現窄頻訊號的追蹤。由於全通濾波器具有結構穩定性,因此不需要擔心實時建構的內部模型會對系統的穩定性產生影響。綜上所述,本研究提出了一種能夠廣泛應用於光路導引系統的精密且完善的雷射追蹤控制方法。通過全通式內部模型控制器和應對外界擾動的干擾觀察器和適應性濾波器的結合,我們能夠實現窄頻訊號的高性能追蹤控制。該方法具有數值穩定度高、系統穩定性好等優勢,有望在光路導引系統中得到廣泛應用。 This study aims to develop a precise and advanced laser tracking control method for optical path guidance systems. It introduces a high-performance and numerically stable all-pass internal model controller for effectively tracking narrowband sinusoidal signals.The all-pass internal model controller utilizes an all-pass filter to construct an internal model related to the narrowband signal input. By introducing a peak filter with an all-pass characteristic into the feedback control system for the target frequency, accurate narrowband signal tracking is achieved. The controller allows independent design of the phase response while preserving the amplitude response.Compared to existing control methods, the all-pass internal model controller exhibits superior numerical stability. It directly generates corresponding transfer functions using the same approach for any target frequency, eliminating the need for multiplication or superposition of transfer functions. This characteristic enhances stability when subjected to digital signal quantization. In addition to narrowband signal tracking, the study addresses external disturbances in optical path guidance systems. It utilizes disturbance observers and adaptive filters to detect real-time disturbance signals and construct an all-pass notch filter based on estimated disturbance frequency information. This approach facilitates narrowband signal tracking while maintaining structural stability of the all-pass filter. In conclusion, this study proposes a precise and advanced laser tracking control method for optical path guidance systems. The all-pass internal model controller, combined with disturbance observers and adaptive filters, enables high-performance narrowband signal tracking. It offers advantages such as numerical stability and system stability, making it a promising approach for optical path guidance systems. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/87979 |
DOI: | 10.6342/NTU202301191 |
全文授權: | 同意授權(限校園內公開) |
顯示於系所單位: | 機械工程學系 |
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