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題名 | A Robust Repetitive Controller Design=重複性追蹤控制器的強健設計方法 |
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作者 | 鍾俊業; 李政勳; 林明傑; | 書刊名 | 逢甲學報 |
卷期 | 28 1995.11[民84.11] |
頁次 | 頁545-558 |
分類號 | 448.942 |
關鍵詞 | 重複性追蹤控制器; 強健設計; |
語文 | 英文(English) |
中文摘要 | 一般工廠中,包含了相當多的重複動作,重複控制器即利用此重複性的特性達到 命令追蹤及干擾排除的特性。本篇論文乃探討如何經由極點安置法來設計一個強健的重複控 制器。本研究發現當系統的閉迴路極點在聚集的情況下,系統對參數的變化很靈敏,也就是 說系統相當不強健。因而本文利用如上的特性設計出強健的重複控制器。在以往的研究,在 重複控制器加上一個 Q-filter, 增加系統的強健性,但卻犧牲了命令追蹤和干擾排除的性 能。而由本論文所提出的方法不僅具有強健性,且維持了干擾排除及命令追蹤的性能。 |
英文摘要 | In many factories, there are a lot of "repetitive motions" in the manufactory process. The repetitive controllers take the advantage of the repetitive motion and then achieve the ability of command following and disturbance rejection. In this paper, we try to design a robust repetitive controller with the pole placement technique, In our past literature, we find that the closed loop poles act like having distraction forces. The more clustered the closed loop poles are, the system's robustness properties would become worse. Thus, this paper adopts the above concepts to design a robust repetitive controller. In the past, some researcher adds a Q-filter to the repetitive controller to increase the robustness; however, it scarifies the ability of command following and disturbance rejection. In this paper, the proposed controller not only possesses the robustness properties but also sustains the ability of command following and disturbance rejection. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。