輸出滑動控制之深入研究與應用

Extensive Research of Output-Sliding Control with Applications

魏漢康(Han-Kang Way)

指導教授 ： 黃英哲

元智大學/工程學院/電機工程學系/博士(2001年)

摘要

在本篇論文中，完成了對非極小相位系統、時變系統和離散系統的設計策略。第一、對於一個參數未定具外部雜訊之非極小相位系統，提出一種有系統的設計法則，並將滑動控制和根軌跡技術作了連結。此提出的方法成功地應用在飛彈的攻角控制和直昇機的垂直昇降。第二、對於一個離散時間系統，輸出滑動控制的方法成功地延伸為離散輸出滑動控制。其切換平面只使用輸出信號和其輸出延遲信號組成。當系統處於滑動模式時，吾人證明了其閉迴路轉移函數之特徵值落在其Ｚ平面的單位圓中，因此經由切換平面的設計可確保控制系統的穩定度和強健性。經由高速鐵路系統的電桿架�架線振盪位移研究，更加驗證所提出的離散輸出滑動控制方法的確能保證系統的強健性。第三、吾人將輸出滑動控制的方法成功地應用於時變系統。其控制法則著重於達成系統之強健性，使之克服系統之參數變動和外部雜訊。其應用於機械手臂的控制，在物理的限制條件下，所提出的方法確能處理時變系統且能滿足精確性。

關鍵字

滑動模式 ； 可變結構控制 ； 時變系統 ； 離散系統 ； 強健性

並列摘要

This dissertation overcomes the design strategies for nonminimum phase, time-varying, and discrete-time control systems. First, A systematic design algorithm is developed which links the sliding mode control and the root locus technique for uncertain nonminimum phase systems with external disturbances. The proposed method is successfully applied to control the angle of attack of missile attitude control systems and a vertical takeoff and landing aircraft. Second, the extension of output-sliding control method to discrete output sliding control for discrete-time systems is achieved. Switching surface is defined by using only output and its delayed signals. In the sliding mode, the closed-loop eigenvalues are proved to be within the unit circle in the z-plane. Therefore, the stability of the control system is guaranteed. Robust output performance is ensured with the presented switching surface design. Through the analysis of the damping displacement of pantograph/catenary of high-speed rail system, it is verified that the proposed discrete output-sliding control method indeed assures the system robustness. Third, we developed an output-sliding control method for linear multivariable systems with external disturbances and time varying parameter uncertainties in both the state and input matrices. The formulation of the control law was emphasized to achieve system robustness against parameter variations and external disturbances. A manipulator control application was carried out. Under the physical constraint condition, the proposed method can deal with time varying systems with satisfactory accuracy.

並列關鍵字

sliding mode ； variable structure control ； time-varying systems ； discrete-time systems ； robustness

參考文獻

[1]Slotine, J. J. and Sastry, S. S., “Tracking control of non-linear system using sliding surfaces with application to robot manipulators,” International Journal of Control, 38, pp. 465-492, 1983.

[2]Perez, T. L., “A simple motion-planning algorithm for general robot manipulators,” IEEE Journal of Robotics and Automation,, 3, pp. 224-238, 1987.

[3]Fernandez B. and Hedrick, J. K., "Control of multivariable non-linear systems by the sliding mode method," International Journal of Control, 46, no. 3, pp. 1019-1040, 1987.

[4]Hashimoto, H., Yamamoto, H., Yanagisawa, S., and Harashima, F., “Brushless servo motor control using variable structure approach,” IEEE Transactions on Industrial Applications, 24, pp. 160-169, 1988.

[5]Zhou, F. and Fisher, G. D., "Continuous sliding mode control," International Journal of Control, 55, no. 2, pp. 313-327, 1992