適應性干擾觀測器於線性離散非極小相位系統

Adaptive Disturbance Observer for Linear Discrete-Time Non-Minimum Phase Systems

張書豪(Shu-Hau Chang)

指導教授 ： 陳明新

國立臺灣大學/工學院/機械工程學研究所/碩士(2013年)

https://doi.org/10.6342/NTU.2013.01708

摘要

在工業與工程議題中，精密動態系統若受到外部干擾會嚴重影響其性能表現。其中一種處理未知干擾的方法就是建構一個能夠在線上測量干擾訊號的干擾觀測器。然而傳統的干擾觀測器由於使用了系統的反向模型，因此僅能應用在極小相位的系統上。故本論文提出一種適應性的干擾觀測器，此觀測器以適應性反向控制和最小平方演算法為基礎做適應性的未知干擾觀測。此適應性觀測器的一個主要優點在於其不僅適用於極小相位系統也適用於非極小相位系統

關鍵字

干擾觀測器 ； 適應性反向控制 ； 最小平方演算法 ； 非極小相位系統

並列摘要

In engineering and industrial applications, disturbances acting on a dynamic system presents a serious problem to system performance. One way to deal with unknown disturbance is to construct a disturbance observer (DOB) to on-line estimate the disturbance. However, conventional DOB utilizes the system's inverse model, hence, can apply to minimum-phase systems only. This paper proposes an Adaptive DOB, which is based on the adaptive inverse control structure and uses the least-squares algorithm (with co-variance reset) to adaptively estimate the unknown disturbance. An important advantage of the proposed Adaptive DOB is that it applies to both minimum-phase and non-minimum phase systems.

並列關鍵字

disturbance observer ； adaptive inverse control ； least-squares algorithm ； non-minimum phase systems

參考文獻

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