重複性控制器之一新設計方法與FPGA實現

Abstract

本論文提出一新設計流程來設計重複性控制器。 重複性控制器本身為一補償器，嵌入原控制系統 其目的是要用來改善原控制器對於週期性穩態誤差消減的能力。 而設計此重複性控制器的困難度在於重複性控制器加入原系統中， 系統仍維持穩定。在文獻中的設計 方法雖然系統化，但所設計之控制器實現複雜度高，而且此控制器的性能缺 乏量化的分析，只能保證系統穩定，不一定是一最佳解。本論文將以一Max-Min 的量化標準來設計重複性控制器。利用此方法所設計的重複性控制器具有容易實現的優點。 本論文我們利用FPGA實現此重複性控制器。 實驗的部分，將所設計之重複性控制器應用於光碟機。實驗結果顯示確實可改進其循軌效能。

This thesis presents a new approach for designing a repetitive controller. The repetitive controller serves mainly as a compensator, plugged into a control system, to improve controller performance for the plant to accurately track a periodic signal. The stability of the resulting system may not be maintained when the repetitive controller is installed. Conventional approaches design a repetitive controller focusing on how to ensure the stability of the resulting system. Hence the designed repetitive controller is usually difficult to implement and its performance is not optimum. To avoid this drawback, we present a Max-Min criterion to design a repetitive controller which is not only optimum but also simple for realization. The repetitive controller is implemented using FPGA. For experiment, the proposed design approach is applied to a DVD-ROM. Experimental results demonstrate the improvement of its tracking performance.