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題 名 | 具參數變動系統之輔助強健穩定與控制研究=Auxiliary Robust Stability and Control for Systems with Parameter Variations and Uncertainty |
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作 者 | 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123-134 |
分類號 | 448.942 |
關鍵詞 | 輔助強健控制; 參數變動; 系統不確定; 最佳化控制; Auxiliary robust control; Parameter variations; System uncertainty; Optimal control; |
語 文 | 中文(Chinese) |
中文摘要 | 本文主要在應用輔助強健控制觀念於具有系統參數變動與系統不確定性的之最佳化控制系統,並評估與比較其對外界干擾之強健性能。最佳控制器當此系統因操作環境改變使系統參數發生變動,或外界具有不確定的干擾時,最佳化控制器之性能往往急遽惡化,本研究應用輔助強健觀念,設計最佳化控制系統之輔助強健控制器,此控制器包含有兩部分,一是最佳的部分,係依據常態系統而設計的,另一是輔助控制的部分,用於當系統受到參數變動時具有較佳的強健性,同時亦具有相當的抗干擾能力。 文中列舉伺服馬達與倒單擺控制等幾個實際系統應用之例子,以驗證輔助強健控制理論之性能,並且在廣泛的操作條件下進行一連串之模擬,模擬結果與傳統最佳控制器比較,在系統發生不確定性參數變動或外界干擾時獲得明顯之性能改善。 |
英文摘要 | An auxiliary robust control (ARC) scheme is proposed for optimal control systems with plant parameter variations and uncertainty. Optimal control systems are, in general, designed based on the idealized nominal systems. The performance of the optimal controllers decreases drastically when system parameters vary due to changes of operating condition and system uncertainty. In this paper, the concept of ARC is applied to optimal control systems. The controller in the ARC scheme consists of two parts, the optimal part and the auzilary 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 D.C. servo motor system and an inverted pendulum under ITAE criterion. A series of simulations are performed over a wide range of operating conditions to demonstrate the merit of the ARC control scheme with plant parameter variation and model uncertainty. The influence of unexpected external disturbances such as gust is evaluated as well. The results show that the robustness is successfully increased. Substantial improvement is observed by comparing with the results with only traditional optimal controller. |
本系統中英文摘要資訊取自各篇刊載內容。