- 學位論文
有多個非線性元件控制系統之極限環分析
Limit Cycle Analysis of Control Systems with Multiple Nonlinearities
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摘要
本論文的主要目的在運用增益-相位邊際測試器之技巧，結合描述函數法、穩定方程式法和參數平面法，分析含有多個非線性體的非線性控制系統的極限環，並找到系統的增益邊際和相位邊際。另一方面，雖然用M-軌跡法在參數平面上分析系統增益邊際和相位邊際之方法已在文獻中被提出，但對於較複雜之系統，卻很難用來作分析，因此，本論文作了些擴充，以分析複雜系統之增益邊際和相位邊際。 首先以高階非線性低空飛行器高度控制系統為例，分析含有多個非線性體的非線性控制系統的極限環。 另一方面，以非線性炮塔位置控制系統為例，分析含四個非線性體的非線性控制系統的極限環與系統的增益邊際和相位邊際。所獲得之結果皆會以計算機模擬來驗證。 最後，應用穩定方程式法分析含有傳輸延遲與非線性體的非線性控制系統的極限環，瞭解傳輸延遲的效應。
並列摘要
The main purpose of this paper is to use the gain-phase margin tester technique, combined with the describing function method, stability-equation method and parameter-plane method, to analyze the limit cycles of nonlinear control systems with multiple nonlinearities, and to find the gain-margins and phase-margins of nonlinear systems. In addition, an extended stability-equation method is proposed to analyze the gain-margins and phase-margins of complicated nonlinear systems. As illustrations, first the height control systems of a low flying vehicle are analyzed, then the position control system of a gun-turret which has four nonlinerarities is considered. All the obtained results are checked with computer simulations. Finally, the limit cycles of a nonlinear control system with transport lag is analyzed.
參考文獻
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