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標題: 球型倒單擺控制系統之設計與實作
Design and Implementation of a Spherical Inverted Pendulum Control System
作者: 張嘉勝
Chang, Chia-Sheng
關鍵字: Spherical Inverted Pendulum;球型倒單擺
出版社: 電機工程學系所
引用: [1] 詹富强,以數位信號處理器為基礎單板獨立旋轉型倒單擺甩上與平衡控制系統之實現,國立成功大學工程科學系碩士論文,2004年。 [2] 廖鉦超,旋轉式倒單擺系統之PC-based即時控制,國立海洋大學電機工程學系碩士論文,2005年。 [3] 蔡政銓,模型預測控制於線性馬達驅動平行式雙倒單擺之應用,國立成功大學機械工程學系碩士論文,2006年。 [4] 陳永平、張浚林,可變結構控制設計,全華科技圖書股份有限公司,2006。 [5] H. T. Cho, S. Jung,“ Neural Network Position Tracking Control of an Inverted Pendulum by an X-Y Table Robot, ”in Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, vol. 1, pp. 1210-1215,October 2003. [6] G. Liu, S. Challa and L. Yu,“ Revisit Controlled Lagrangians for Spherical Inverted Pendulum, ”International Journal of Mathematics and Computers in Simulation, vol. 1, no. 2,pp. 209-214, 2007. [7] R. Yang, Y. Kuen and Z. Li,“ Stabilization of A 2-DOF Spherical Pendulum on X-Y Table, ”in Proceedings of the 2000 IEEE International Conference on Control Applications, vol. 4,pp. 724-729,September 2000. [8] S. Jung, H. T. Cho,“ Decoupled Neural Network Reference Compensation Technique for a PD Controlled Two Degrees-of-Freedom Inverted Pendulum, ”International Journal of Control, Automation, and Systems, vol. 2, no. 1,pp. 93-99, March 2004 [9] R. J. Wei, L. J. Chang,“ Adaptive Stabilizing and Tracking Control for a Nonlinear Inverted-Pendulum System via Sliding-Mode Technique, ”IEEE Transactions on Industrial Electronics, vol. 53, no. 2,pp.674-692, April 2006. [10] W. Wang, X.D. Liu and J.Q. Yi,“ Structure design of two types of sliding-mode controllers for a class of under-actuated mechanical systems, ”IET Control Theory Appl., vol. 1, no. 1,pp.163-172,January 2007. [11] R. J. Wai, M. A. Kuo and J. D. Lee,“ Design of Cascade Adaptive Fuzzy Sliding-Mode Control for Nonlinear Two-Axis Inverted-Pendulum Servomechanism, ”IEEE Transactions on Fuzzy Systems, vol. 16, no. 5,pp. 1232-1244, October 2008. [12] C. M. Lin, Y. J. Mon,“ Decoupling Control by Hierarchical Fuzzy Sliding-Mode Controller, ”IEEE Transactions on Control Systems Technology, vol. 13, no. 4,pp. 593-598, July 2005
本論文的研究目的是以階層式滑動模式控制,設計發展球型倒單擺系統之運動控制器。本文應用機電整合技術去設計與建置該球型倒單擺系統。該系統之數學模型建立係分別採用牛頓力學與拉格朗日運動方程式,個別推導出球型倒單擺之解耦與耦合等兩種動態數學模型,並進一步以兩種特殊情況驗證此兩種數學模型之一致性。該平衡與運動控制器之設計係結合階層式滑動模式控制(Hierarchical sliding-mode control)與倒逆步控制(Backstepping control)等方法,用以完成球型倒單擺之角度控制與位置追蹤控制。另外, MATLAB/SIMULINK 被採用來進行幾個耦合情況進行控制系統之模擬,驗證所設計控制器之效能與優點,最後將模擬結果所得之控制器應用在實際系統,用以完成—球型倒單擺之控制,所得的實驗數據可例證所提控制方法之可行性與有效性。

This thesis develops techniques for system design, modeling and hierarchical sliding-mode control of a spherical inverted pendulum control system. A mechatronic approach is employed to design and construct the system structure for the spherical inverted pendulum control system. With the structure, Newtonian and Lagrangian mechanics are respectively employed to establish two types of mathematical models, decoupled and coupled. Both models are shown consistent under two special cases. Hierarchical siding-mode control and backstepping technique are used to propose decoupled and coupled controllers so as to maintain the nutation angle at zero and achieve position tracking at the same time. Via Matlab/Simulink, the effectiveness and merit of both controllers are exemplified by conducting several simulations on the coupled model. Experimental results indicate that the proposed decoupled controller is capable of providing satisfactory control performance for the spherical inverted pendulum.
其他識別: U0005-2308201015053000
Appears in Collections:電機工程學系所

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