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Title: 旋轉式倒單擺系統之非線性控制設計研究
Authors: 范銘峰
Contributors: 電機與電子工程系
Fan, Ming-Feng
Keywords: 倒單擺系統
LQR 控制法
SDRE 控制法
Inverted pendulum system
Nonlinear system
Feedback linearization control
Date: 2015-06-30
Issue Date: 2015-07-21 09:51:42 (UTC+8)
Abstract: 本論文針對一旋轉式倒單擺系統提出一有效的非線性控制方法,以改善利用角度近似法所得之非時變LQR最佳線性控制之精度。本論文的主要目的則在探討利用一些非線性系統理論,針對一ROTPEN實驗機台嘗試設計較線性控制更精準之控制法則。首先,我們推導ROTPEN實驗機台之系統模型,並嘗試探討利用非時變線性LQR設計方法所獲得之控制效果及其潛在問題;接著嘗試利用SDRE (State-Dependent Riccati Equation) 控制法及輸入-狀態回授線性化 (Input-state feedback linearization) 控制法來精進線性控制之效果。另外,本論文也利用SDRE設計概念,來簡化傳統回授線性化控制法則之推導,進一步提出簡化型時變及非時變回授線性化控制器設計結果,以降低回授線性化控制所需之複雜計算度。為驗證所提出控制器之有效性,本論文使用MATLAB軟體來做模擬與測試。最後,藉由LabVIEW圖控程式之實現,本論文達成以實體控制ROTPEN機台之目的。

This thesis proposes an effective nonlinear control method for a rotary inverted pendulum system in order to improve the accuracy of using the time-invariant LQR optimal linear control, which is obtained by using angle approximations in the obtained nonlinear system model. Thus, the main objective of this thesis is to explore the application of nonlinear system theories to a ROTPEN experimental machine (ROTPENEM), trying to develop a more accurate control law than that of the linear control. First, we derive the system model of the ROTPENEM, and try to explore the control effects and potential problems of applying the time-invariant LQR design. Then, we try to employ the SDRE (State-Dependent Riccati Equation) control and the Input-state feedback linearization control to improve the control performance of the aforementioned linear control. Furthermore, based on the concept of the SDRE, this thesis also proposes a compact design method of the conventional feedback linearization control in order to reduce its computational complexity. In the sequel, compact time-varying and time-invariant feedback linearization controller designs are proposed. To verify the effectiveness of the proposed results, this thesis uses MATLAB to conduct the simulation and verification. Finally, through LabVIEW programming and experiment setup, this thesis fulfills the goal of real and satisfactory control of the ROTPENEM.
Appears in Collections:[電機與電子工程系] 學位論文

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