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题名: 滑模控制系統的分析與應用
Analysis and Applications of Sliding Mode Control Systems
作者: 汪士慶
贡献者: 電機工程研究所
关键词: 滑模控制
非奇異終端滑模
強健性
同步控制
水平平台系統
主動式引擎懸吊
日期: 2010-06
上传时间: 2013-11-20T01:29:02Z
摘要: 滑模控制之設計理念為利用控制器之切換原理迫使系統狀態軌跡落入預先設計的滑模面上，這時系統的響應完全以滑動模式來表現，並且朝著控制目標前進。當系統狀態軌跡落入滑模面上時，能控制系統的不確定性以及對抗外界干擾對系統的影響，使系統具有強健性。本論文針對主動式引擎懸吊系統抑制引擎怠速時所產生的振動問題與水平平台系統之廣義行投影同步分別提出了線性滑模、非奇異終端滑模的控制方法，由數值模擬結果可知，在受控系統有無法考慮的不確定性和不同的外加干擾時，滑模控制仍然具有良好的控制性能，使系統狀態軌跡到達滑模面後，追蹤誤差會在有限時間內收斂到零和有效地降低引擎怠速時所造成的振動和抵抗不同的外加干擾，且明顯地抑制了符號函數因切換時所造成之控制輸入的顫振現象。
The design principle of sliding mode control is to use the switching controller to force the system state trajectory into the sliding surface and converge to zero or reach the target point. Sliding mode control is a well-known and robust approach which can control the overall system with undergoing system uncertainties and external disturbances. In this thesis, the Active Engine Mounting (AEM) system to isolate vehicle engine body vibration by utilizing Sliding Mode Control (SMC) and generalized projective synchronization for Horizontal Platform Systems (HPS) via Nonsingular Terminal Sliding Mode Control (NTSMC) are discussed. The NTSMC used here not only keep the performance of high speed of sliding while near the equilibrium state, but get the guarantee of finite time convergence under the design of dynamic nonlinear sliding surface also. The simulations show, the trajectory of state can be tracked completely during a finite time while the system state trajectories reach the sliding surface. Moreover, the vibration of AEM system can be isolate and withstand different type of disturbances and the chattering effect has been avoided with the NTSMC proposed.
描述: 指導教授:楊基鑫
显示于类别:[電機工程系(含碩士班)] 學位論文

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