完整後設資料紀錄
DC 欄位語言
dc.contributor.author王安平en_US
dc.contributor.authorWang, An-Pengen_US
dc.contributor.author徐保羅en_US
dc.contributor.authorHsu Pau-Loen_US
dc.date.accessioned2014-12-12T02:14:58Z-
dc.date.available2014-12-12T02:14:58Z-
dc.date.issued1995en_US
dc.identifier.urihttp://140.113.39.130/cdrfb3/record/nctu/#NT840327002en_US
dc.identifier.urihttp://hdl.handle.net/11536/60255-
dc.description.abstract在控制系統中,控制參數的設定的優劣,對系統的效能具有關鍵性的 影響。但是,在實際的系統上,由於系統模型的難以掌握,造成了參數在 設定或調整時的嚴重困難。因此,發展有系統並且有效的參數調整方式, 對於實際控制系統的應用是十分重要的。 本研究首先推導出選擇PID 控制器初始參數的設計法,進而利用非線性規畫(nonlinear programming),使控制參數得以最佳化。首先將控制系統的各項主要的響 應設計規格與限制,如上升時間、穩態誤差等等加以定量化,同時由系統 特性中獲取可行的最佳化初始系統參數,並依系統本身的物理特性以及系 統設計需求,設計出最佳化的目標函數(cost function)。接著對系統進 行最佳化,以求得在限制條件空間中的最佳可行解,此解即為符合設計目 標的理想控制參數。 除了在最佳化程序與理論的分析之外,本研究也 配合伺服馬達系統來進行真實系統的實驗,並與模擬結果相互對照比較, 以驗證最佳化的真正效果。 在模擬最佳化參數設定之後,系統運作的 效能,可能會受到實際系統的模型不確定性以及以及外界雜訊等各項因素 的干擾。因此,我們嘗試將模擬最佳化的方法與實驗相結合,進而衍生成 線上參數最佳化的程序,並與模擬相結合,形成兩階段式的控制參數最佳 化整體程序。 由實驗結果中可證實,依據本研究所提出的程序,在系 統響應上可以產生明顯的最佳化趨勢。 A good setting of the control parameters leads to satisfactory systemperformance . However, in physical systems, due to the uncertainty of the system models, it is difficult to set and tune proper control parameters.Therefore, a systematic and effective parameter tuning approach is of greatimportance in real control applications. In this thesis, four new PID initial setting approaches are developed. Then, the nonlinear programming technique is applied to the present research to tune the parameters to optimize system performance. The main design specifications and limitations for a control system such as rise time,steady state error, etc. are quantified. The objective cost function canbe determined from the design requirements and optimization process can therefore be performed in the constrained domain of the simulated targetplant. In addition to the analysis and simulation, a servo motor control experiment is set up so that the present design can be verified. By considering the model uncertainty and external noise, we further combine the initial optimization and the on-line optimization to construct a two-stage parameter setting and tuning process. Experiment results indicatethat the control system performance can achieve significant improvement via the proposed optimization process.zh_TW
dc.language.isozh_TWen_US
dc.subject非線性規畫zh_TW
dc.subject最佳化zh_TW
dc.subjectPID控制器zh_TW
dc.subject伺服馬達zh_TW
dc.subject定位控制zh_TW
dc.subjectNonlinear Programmingen_US
dc.subjectOptimizationen_US
dc.subjectPID Controlleren_US
dc.subjectServo Motoren_US
dc.subjectPosition Controlen_US
dc.title非線性最佳化程序在控制系統參數設定與調整上的應用zh_TW
dc.titleThe Appliations of Nonlinear Programming Procedures in Control System Parameters Setting and Tuningen_US
dc.typeThesisen_US
dc.contributor.department電控工程研究所zh_TW
顯示於類別:畢業論文