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題名 | 輔助強健控制系統之穩定性與靈敏度研究=Study on Stability and Sensitivity of Auxiliary Robust Control Systems |
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作者姓名(中文) | 郭智賢; 曾騰漳; | 書刊名 | 中正嶺學報 |
卷期 | 30:1 2001.10[民90.10] |
頁次 | 頁53-66 |
分類號 | 418.942 |
關鍵詞 | 輔助強健控制器; 最佳化控制; 參數變動; 不確定性; 小增益理論; Auxiliary robust control; Optimal control; Parameter variations; System uncertainty; Small gain theorem; |
語文 | 中文(Chinese) |
中文摘要 | 本論文旨在探討具有系統參數變動與系統不確定性之最佳化控制系統當應用輔助強健控制器時之穩定性與靈敏度,文中運用小增益理論以建立其穩定性準則而靈敏度函數則用以探討系統之強健性能,對於較複雜之高階系統及不穩定系統亦提出有效之解決方案;此控制器包含有兩部分,一是最佳的部分,係依據理想的常態系統而設計,使系統具有漸近穩定特性以及最小化性能指標,另一是輔助控制的部分,用於降低系統於建模後因參數變動或外來干擾而使性能惡化之影響。文中列舉化學蝕刻製程濃度控制系統與倒單擺位置控制等應用實例,以探討其穩定性與靈敏度,並驗證輔助強健控制理論;在廣泛的操作條件下,對輔助強健控制器與傳統最佳控制器比較,模擬結果顯示,輔助控制器所產生之輔助控制量確可對系統本身增加其強健性能及抗干擾之能力。 |
英文摘要 | Stability and sensitivity issues of the auxiliary robust control (ARC) scheme are investigated for optimal control systems with plant parameter variations and uncertainties. Based on small gain theorem, stability criterion is developed while robust performance is discussed by using the sensitivity function. Moreover, an extended control scheme constructed by auxiliary robust control with reference models (ARCm) is proposed to overcome the intrinsic complexity and instability of high-order systems and unstable plants. The controller in the ARC scheme consists of two parts, the optimal part and the auxiliary part. The optimal part is designed to control the idealized nominal systems. On the other hand, the auxiliary part is developed to cope with the uncertainties of the system dynamics and the changes of operating condition. As examples, ARC control schemes are designed for optimal control systems of a chemical etching process and an inverted pendulum system under ITAE criterion. A series of simulations are performed over a wide range of operating conditions to demonstrate the merit of the ARC and ARCm control schemes for the systems subject to plant parameter variations and model uncertainties. Simulation results show that the robustness and the capability of disturbance rejection are successfully increased. |
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