不織布棉網成型機(non-woven cross-lapper machine)主要是利用滑動架(carriage)之左右擺動原理，來達成往復動作，摺疊出適當厚度與寬度的棉網。本文旨在探討不織布棉網成型機之系統建模與控制。首先以拉格蘭吉氏方程式(Lagrange’s equation)推導出系統的非線性動態方程式，並轉換至狀態空間(state space)表示式。再根據系統的平衡點(equilibrium point)做非線性動態方程式的線性化(linearization)和拉普拉斯轉換(Laplace transform)後求得系統的開迴路轉移函數(open-loop transfer function)。所得之轉移函數為高階系統(high-order system)，再進行降階(reduced order)，最後將利用降階後的系統來做為近似高階系統，所設計之PI控制器可以固定系統阻尼比(damping ratio)與自然頻率(natural frequency)，符合系統主極點(dominant pole)需求，並加入反積分終結器(anti-windup)來加以消除系統過衝超越量，由模擬響應圖可知設計之控制器確實能達到系統控制目標。
本研究另採用狀態回授控制理論的系統設計，應用極點配置法，使系統具有要求的閉迴路極點，並以卡爾曼濾波器(Kalman filter)來改善系統存在的控制干擾及量測雜訊。

A non-woven cross-lapper machine is used to produce uniform layers of fiber with suitable widths and thicknesses. This thesis addresses the dynamic modeling and control of a vertical non-woven cross-lapper machine. First, the Lagrange’s equation is used to derive the nonlinear dynamic equation of the system, and the corresponding state space representation has been obtained. Next, the linearized model based on the equilibrium position of the nonlinear model is generated, and the associated open-loop transfer function is obtained. This high order mathematical model will be reduced to a verified lower order system for control system design. The designed PI controller can achieve the specified system damping ratio and undamped natural frequency for a pair of dominant closed loop poles, and the anti-windup method is cooperated to delete the system overshoot.
In addition, the state feedback and pole placement theory is used to achieve the system desired poles of the closed loop system, and Kalman filter is designed to overcome control disturbance and measurement noise as well.

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