Title

逆步式順滑控制器設計及其於機械系統循軌與追蹤控制之應用

Translated Titles

Backstepping Design of Sliding Mode Controller and Its Applications to Contouring and Tracking Control of Mechanical Systems

Authors

彭兆仲

Key Words

順滑控制 ; 顫振 ; 線性矩陣不等式 ; 循軌控制系統 ; sliding mode control ; chattering ; linear matrix inequality ; contouring control systems

PublicationName

成功大學航空太空工程學系學位論文

Volume or Term/Year and Month of Publication

2009年

Academic Degree Category

博士

Advisor

陳介力

Content Language

英文

Chinese Abstract

基於許多優異的特性,順滑模態理論在過去幾十年間已在強健控制領域吸引廣泛的注意。這些良好的特性是建立在所謂的理想順滑模態上,而此模態是藉由一種不連續的控制手段所達成。然而,由於實際的物理限制,此一無窮快速之切換控制難以被實踐且會導致非期望的控制結果。因此,建立於傳統順滑模態的設計理念,本論文將致力於設計無顫振型順滑控制器。由於所研發之控制器在結構上十分簡單,於實踐時不會為使用者帶來困擾。另外,簡易的準則也加以提出,來保障閉迴路的穩定性。 對於高階線性或是非線性的不確定性系統,作者倂入逆步式設計概念以及考慮多目標之線性矩陣不等式來達成系統性的順滑平面設計。基於所發展之順滑平面下,閉迴路系統將對匹配以及非匹配不確定性具有強健性。所提出之方法不但保存了大多傳統順滑模態所俱備的優勢之外,也承襲了其易於實踐的特點以及消除嚴重的控制顫振。最終目標是將所提出的控制理論擴展應用至廣泛的動態模型和機械系統的運動控制。在本文中,軌跡追隨控制也是任務之ㄧ。 藉由座標轉換技巧,循軌誤差模型將可被系統性的建置。為了評估循軌控制性能,一個被稱之為循軌指標的等效軌跡誤差將加以介紹。不同於傳統的循軌控制法,所發展之軌跡追隨控制架構即使在低劣的追蹤性能下,也能夠達成優良的控制品質。此特色將會藉由實驗清楚呈現。

English Abstract

Owing to its several outstanding properties, during the last few decades, sliding mode control theory has attracted wide attention in the robust control field. These superior features are based on the existence of the so called ideal sliding mode, which is achieved with the aid of discontinuous control. However, due to physical limitations, the infinite fast switching is difficult to be realized and also leads to undesirable control results. Thus, building on the design concept of conventional sliding mode control, this dissertation devotes to develop non-chattering sliding controllers. Owing to its simple structure, the proposed sliding controllers cause no difficulty to users for practical realization. Moreover, simple criteria to guarantee closed-loop stability are also proposed. For high order linear or nonlinear uncertain systems, the authors incorporate backstepping design concept and considering multi-objective linear matrix inequalities to achieve systematic sliding surface design. Based on the developed sliding surfaces, the closed-loop systems are robust against to both matched and mismatched uncertainties. The proposed methods not only preserve most of the advantages provided by conventional sliding mode control, but also inherit its simple realization property and eliminate serious control chattering. The final objective is to extend the application of the developed control theories to wide class of dynamic models as well as motion control of mechanical systems. In this dissertation, contouring following control is also one of our tasks. By using coordinate transformation technique, a contouring error model can be systematically derived. To evaluate contouring control performance, an equivalent contour error termed contour index is also introduced. Unlike conventional contouring control methods, the proposed trajectory following control framework is capable of achieving superior control qualities even in the face of inferior tracking performance. This feature will be clearly illustrated via a couple of experiments.

Topic Category 工學院 > 航空太空工程學系
工程學 > 交通運輸工程
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Times Cited
  1. 吳誌賢(2011)。空氣彈力系統動態分析與顫振控制。成功大學航空太空工程學系學位論文。2011。1-71。 
  2. 沈育民(2016)。三軸加工平台順滑運動控制。成功大學航空太空工程學系碩士在職專班學位論文。2016。1-67。