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題 名 | 直流伺服馬達的適應辨識和控制=Adaptive Identification and Control of DC Servo Motor |
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作 者 | 李武鉦; | 書刊名 | 技術學刊 |
卷 期 | 11:2 1996.06[民85.06] |
頁 次 | 頁213-217 |
分類號 | 448.22 |
關鍵詞 | 系統辨識; 適應控制; 馬達控制; 格子狀濾波器; System identification; Adaptive control; Motor control; Lattice filter; |
語 文 | 中文(Chinese) |
中文摘要 | 本研究以直流伺服馬達的適應辨識和控制實驗,來証實適應控制在控制馬達上的適用性。研究中,以80486個人電腦配合程式,來辨識所控制的馬達系統,並據以設計控制器,進而執行控制。 辨識系統時,以隨機訊號驅動系統,並讀取所要控制的輸出訊號。這些輸入輸出訊號,經過系統辨識程式 (格子狀濾波器) 計算後,取得系統方程式。有了直流馬達系統程式後,採極點放置法,設計最佳控制器,用於實際的數位控制實驗。無負載和有負載的馬達系統,分別被用於馬達的位置控制和速度控制實驗。其適應控制的結果並和數位PID控制結果做比較。實驗証明,適應控制確實適用於直流馬達的運動控制。 |
英文摘要 | This research studies adaptive identification and control of DC motor with experimental work to verify the feasibility of adaptive control on DC motor control. In this study, personal computer with software is used to identify motor systems, design controllers, and control motor motion. In system identification, random signal is used to drive motor and the output signal to be controlled is recorded. These input and output signals are used to get the system equation by identification program (lattice filter). After having system equation, we design optimal controllers by pole-placement method in the form of transefr function. We experiment position control and velocity control of motor systems with or without load. Adaptive control and digital PID control are tried. According to the experiments adaptive control is better than PID control in many respects for DC motor control. |
本系統中英文摘要資訊取自各篇刊載內容。