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研究生: 王昱盛
Yu-Sheng Wang
論文名稱: 以參考模型控制方法設計非赫維茲系統之動力輔助位置控制器研究
Design of Power Assistance Positioning Controllers for Non-Hurwitz Systems using Model Reference Control Method
指導教授: 黃安橋
An-Chyau Huang
口試委員: 陳亮光
Liang-Kuang Chen
林紀穎
Chi-Ying Lin
學位類別: 碩士
Master
系所名稱: 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年: 2022
畢業學年度: 110
語文別: 中文
論文頁數: 40
中文關鍵詞: 參考模型控制動力輔助系統力量回授位置控制
外文關鍵詞: model reference control, power assist system, force feedback, positioning
相關次數: 點閱:363下載:8
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本文提出數種新的參考模型動力輔助控制器,在面臨系統與環境未知的情況下,使系統狀態收斂至參考模型狀態,順利解決參考模型適應控制器無法應用在非Hurwitz系統的問題。在本文中,除了以Lyapunov穩定性分析,證明控制器之穩定性,也會將傳統控制器與本研究之新控制器進行比較,並以電腦軟體進行模擬。模擬結果展示出,將新動力輔助控制器應用於手推車上,確實能提供即時的動力輔助,使用者可以輕鬆推移手推車,且在面臨系統與環境未知的情況下,依然能追蹤參考模型軌跡。本文提出的新動力輔助控制器由於還具有位移收斂的結果,可作為有定位需求時的控制器選用。


In this thesis, several new model reference power assist controllers are proposed, which are able to make the system states converge to the reference model states even if the system parameters and environment are unknown. The controllers successfully solve the problem that the traditional model reference adaptive controller cannot be applied to non-Hurwitz systems. In this thesis, the Lyapunov stability analysis is applied to prove the stability of each new controller, then, new controllers and traditional one will be compared with simulations. The simulation results show the effectiveness of the new power assist controllers applied to a cart, providing real-time power assistance. The user can easily move the cart with assistance force, and the trajectory of the cart can still track that of the reference model despite the uncertainties of the system and environment. All of the new power assist controllers proposed in this thesis has the result of displacement convergence, therefore, all of them can be selected as a controller when there is a positioning requirement.

摘要 I Abstract II 致謝 III 目錄 V 圖片索引 VI 表格索引 VII 第一章 緒論 1 第二章 系統模型建立與控制器回顧 4 2.1系統建模 4 2.2控制器回顧 5 第三章 新控制器設計 10 3.1參考模型控制 10 3.2參考模型適應控制 12 3.3參考模型強健控制 15 3.4函數近似法 17 小結 18 第四章 模擬驗證 19 4.1模擬架構 20 4.2模擬範例一 22 4.3模擬範例二 25 4.4模擬範例三 28 4.5模擬範例四 31 4.6模擬範例五 35 第五章 結論 38 參考文獻 40

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