QFT/H∞強健控制理論應用於防震伺服控制系統之研究

Abstract

本論文之重點在於研究防震伺服控制系統，針對存在不確定性的系統使用結合QFT以及H∞最佳強韌控制理論來設計防震伺服控制器，並應用田口法（Taguchi Method）設計控制器使之成為實數根並符合硬體應用限制。為配合業界防震規格，本研究選用具有雙致動器架構的讀取頭系統做為等效驗證平台，以粗調致動器產生震動擾動，將結合QFT以及H∞的強健控制理論應用於微調致動器做防震抑制動作，並利用光碟片上迴授的震動跨軌誤差訊號驗證控制器的效果與可行性，達到防震控制。

The dissertation described the study of anti-shaking servo system. For a uncertain system , we used QFT/H∞ robust control theorem to design the controller and adopted Taguchi method to design the controller hardware parameters with real roots to satisfy hardware limitation. In order to match with the specification, we used the dual-acutator servo system of pick-up head system to be a equivalent experiment plant. In fine tuning process we adopted the QFT/H∞ robust control theorem to prevent the shaking of pick-up head whereas the shaking disturbance is produced by coarse tuning actuator. The purpose of using the shaking-crossing error signal receiving from the photo-diode of CD-ROM is to verify the performance and feasibility of the controller and achieve the goal of controllable of anti-shaking servo system.