以滑動模式控制為基礎之線性馬達精密定位控制系統研製

Sliding-mode-based Precise-position Control Strategy for Linear Motor System

林杰鋒(Jie-Fong Lin)

指導教授 ： 李政道

國立虎尾科技大學/工程學院/自動化工程研究所/碩士(2012年)

https://doi.org/10.6827/NFU.2012.00118

摘要

本論文之目的在於發展一系列滑動模式控制系統，其中包含傳統滑動模式、積分滑動模式以及終端滑動模式控制策略，並且針對系統的不確定量發展適應型以及精確型不確定量估測器，利用DSP數位訊號處理器之強大的運算能力做為控制核心，並使用多功能訊號介面於線型馬達的定位系統中。本論文所設計之控制系統穩定度即使於系統不確定量產生時，皆可被確保所設計之滑動模式控制系統具有漸進穩定特性。為了更進一步提升系統之控制性能，本論文亦設計一精確型不確定量估測器，此精確型不確定量估測器直接對系統之不確定量進行估測以克服傳統適應性估測方法之缺失。最後，本論文以數值模擬與實作結果來驗證所設計之控制系統所設計之控制系統之有效性與可行性。

關鍵字

線性馬達 ； 滑動模式控制 ； 終端滑動模式控制 ； 里亞普諾穩定理論 ； 不確定量估測

並列摘要

The purpose of this thesis is to develop a series of sliding mode control system which includes the traditional sliding mode control (SMC), the integral sliding mode control (ISMC) and the terminal sliding mode control (TSMC), and for the amount of uncertainty the development of adaptive and exact amount of estimate uncertainty to the control system, and using the digital signal processor-based for control core, by virtue of a processor’s powerful internal computing capability and multi-signal transmission interface for transmission to the linear motor positioning control. And can be verified for using the Lyapunov stability theory on linear motor with system uncertainty, these sliding mode control system still has progressive stability characteristics. To further enhance the system control performance, this thesis also design the exact estimation of uncertain amount, this control system design an exact uncertainty estimation to estimate to the uncertainties of the boundary value for overcome the lack of traditional control systems. Finally, the effectiveness and feasibility of the proposed control law and estimation uncertainty are validity by both numerical simulation and experimental results.

並列關鍵字

linear motor ； sliding-mode control ； terminal-sliding-mode control ； Lyapunov stability theory ； uncertainties estimation

參考文獻

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