- 學位論文
基於強健性背進式控制之線性脈波馬達位置控制系統
Position Control System of Linear Pluse Motor Based on Robust Backstepping Approach
摘要
本文根據強健性背進式原理(robust backstepping principle)設計線性脈波馬達(LPM)之位置控制系統，由系統化的分析與模擬建立完整的控制理論，發展精密的伺服控制技術。系統理論的研究是根據實際的馬達數學模式，利用座標轉換的觀念建立系統的動態模型，並考慮馬達負載干擾和參數變異等效應，結合模糊類神經網路的特性和適應調整的觀念，由Lyapunov穩定度分析的方法，推導強健性背進式控制演算法法則。最後經由電腦模擬與實驗過程測試控制器對於各種運動軌跡的控制成效，印證本文所提出的方法其正確性與實用性。
並列摘要
This thesis is based on the principle of robust backstepping control to develop a position-servo control system for linear pulse motor (LPM). To explore a high performance servo control technology, the complete theory is formulated via systematic analysis and synthesis process. The dynamic model is first established by using the concept of coordinate transformation that transfers the mathematic model of LPM into a compact form for facility of designing work. Then, considering the effects of load disturbance and parameter variation, the proposed approach employs the advantages of fuzzy neural network and adaptive tuning technique to the development of robust backstepping control algorithm. Various motion trajectories are utilized to examine the performance of the control system. Simulation and experiment results demonstrate the accuracy, validity, and highly robust ability of the proposed system.