本論文目的為設計一具時間延遲的滑動模式控制器，並應用此控制器於氣壓系統上，使活塞能在有限時間內到達定位。本實驗以PC為基本平台，利用AD/DA卡作介面轉換，將計算出的結果輸出到比例閥中，控制氣壓缸中的壓力，使活塞到達目標位置。
控制系統的設計分為兩部份，第一部份先建立系統模型，本實驗以線性化的方法簡化系統，建立具時間延遲特性的數學模型，並以系統識別找出其中的參數，得到系統模型。第二部份以此模型為對象，以預測器結合滑動模式控制的方式，利用變數代換的方式去除狀態中的時間延遲，再以滑動模式控制設計出控制器。最後將此控制器用C語言實現，達到活塞定位的目標。

The objective of this thesis is to design a sliding mode controller with time-delay. With this controller, we can enable the piston to arrive at the set-point in finite time for the pneumatic system. This experiment is based on PC, uses AD/DA card as interfaces, output the result calculated into the proportional valve to control the pressure in the actuator’s chambers, finally make the piston reach the position as desired.
There are three parts for this controller design. The first part is to set up systematic model. We use linearization to reduce system order, set up the mathematical model with time-delay characteristics, and then determine the parameters among them with system identification. The second part is to design a controller. We use the combination of predictive structure and sliding mode control, reduce the time-delay in system with variable substitution, then design a sliding mode controller. Finally realizes this controller with C language, achieves the goal of positioning the piston.

第一章 緒論 1
1-1 背景與動機 1
1-2文獻回顧 2
1-3 欲達成目標之情節描述 4
1-4 本文架構 4
第二章 問題描述 6
2-1 結合預測器之滑動模式控制器 6
2-1-1 滑動模式理論 6
2-1-2 離散時間系統的預測器 9
2-1-3 離散時間系統的滑動模式控制器設計 10
2-2 氣壓伺服系統之模型建構 12
2-2-1 氣壓系統的線性模型 12
2-2-2 系統參數的識別 15
2-3 系統模型與控制 18
第三章 實驗系統架構 21
3-1 實驗系統流程 21
3-2 實驗設備介紹 21
3-2-1 雙動單桿氣壓缸 21
3-2-2 五口三位伺服流量閥 22
3-2-3 感測器 24
3-2-4 電腦與控制介面 25
第四章 實驗結果與討論 26
4-1 時間延遲的影響 26
4-2 可容許的時間延遲範圍 32
4-3 控制器參數 42
4-4 系統強健性 48
第五章 本文貢獻和未來研究發展與建議 51
5-1 本文貢獻 51
5-2 未來發展與建議 52
參考文獻 53

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