Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8165
標題: 空間領域適應重覆和遞迴學習控制應用於受隨空間週期與非週期性干擾影響之變轉速旋轉運動系統
Spatial-based Adaptive Repetitive and Iterative Learning Controls for Uncertain Variable-Speed Rotary Motion Systems Subject to Spatially Periodic and Non-periodic Disturbances
作者: 楊衍修
Yang, Yen-Hsiu
關鍵字: Spatial-based;空間領域;repetitive control;iterative learning control;重覆控制;遞迴學習控制
出版社: 電機工程學系所
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摘要: 
運動控制系統在許多工業應用上扮演著重要的角色。於設計控制法則的過程中,設計者常面臨不確定性和非線性的議題。在眾多的控制法則中,重覆控制和遞迴學習控制常被應用於系統需要克服週期性變化干擾或是追蹤週期性訊號。影響旋轉控制系統之干擾主要來自於齒輪之偏心或齒輪輪廓之誤差。此類型的干擾會隨角位置呈週期性變化,但卻不一定會隨時間呈週期性變化。換言之,其變化週期會和系統之轉速成比例關係。
為了防止週期性變化干擾之變化週期隨系統轉速改變,我們改在空間領域中設計一個新的適應重覆控制架構。其可應用於一個運作於可變轉速並具有空間週期與非週期性干擾之非線性系統,而欲控制之開迴路系統同時具有結構和非結構參數之不確定性。
此篇論文的另一項研究議題是空間領域適應遞迴學習控制應用於具未知且空間週期變化參數之系統。在此項議題中,我們將空間週期變化干擾納入系統動態中,以空間週期變化參數的型式呈現。適應遞迴學習控制將會用於設計控制法則和週期性之參數更新機構用以對付未知之空間週期變化參數,並最小化追蹤誤差。
以上研究之可行性和效能將透過設計實例來驗證,所使用的工具為 MATLAB/SIMULINK套裝軟體。

Motion control systems play important roles in various industry applications. For design of control algorithms, people often encounter issues of uncertainties and nonlinearities. Among various types of control algorithms, repetitive control and iterative learning control (ILC) have been applied to the system for rejection of periodic disturbances or tracking periodic commands. Most disturbances subject to rotary motion systems come from eccentricity or tooth profile error. The types of disturbances are periodic with respect to angular position, but not necessarily periodic with respect to time. In other words, their frequencies are proportional to system operating speeds.
To prevent the frequencies of periodic disturbances from varying with respect to system operating speeds, we propose a new adaptive repetitive control scheme designed in the spatial domain. The proposed spatial-based control is applicable to a generic nonlinear system operating at various speeds, subject to spatially periodic and band-limited disturbances, and the open-loop system has both structured and unstructured parametric uncertainties.
The other focus of this work is spatial-based iterative learning control for system subject to unknown and spatially periodic parametric variation. In this topic, spatially periodic uncertainties are modeled as spatially periodic unknown parameters. Adaptive iterative learning control is used to design a control law and a periodic parametric update law in order to cope with the unknown parameters which are spatially periodic and minimize the tracking error.
Feasibility and effectiveness of aforementioned works are verified by design examples using MATLAB/SIMULINK.
URI: http://hdl.handle.net/11455/8165
其他識別: U0005-1908200820162000
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