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標題: 三軸奈米平台之離散時間適應控制及嵌入式ARM微控制器實現
Discrete-time Adaptive Control and Embedded ARM-Microcontroller Implementation for a Three-axis Nanopositioner
作者: 李浩誠
Li, Hao-Chen
關鍵字: Nano-positioning Stage;奈米平台;adaptive control;Embedded sytem;適應控制;嵌入式系統
出版社: 機械工程學系所
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本論文先根據三軸奈米平台含磁滯效應的系統模式,使用尤拉法建立其離散時間系統模式,再根據離散時間模式設計適應控制器,其中含一估測磁滯變數的觀測器。設計控制策略時,針對系統參數辨識誤差、不確定性和耦合效應,亦包含一模糊函數近似器加以補償,其參數調適律使用正常化梯度下降法,整體閉迴路系統的穩定性則使用Lyapunov穩定理論加以探討。本論文除了進行電腦模擬分析研究外,並使用ARM微控制器整合週邊數位類比電路構成的嵌入式系統(embedded system)實現控制策略,以驗證該控制策略的性能與有效性。
其他識別: U0005-2607200616524300
Appears in Collections:機械工程學系所

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