ALS-QFT/DCFDOB控制器之設計與實現於撓性轉子磁浮軸承

Abstract

本論文主要目的為針對撓性轉子磁浮軸承系統，發展一ALS-QFT/DCFDOB控制器，希望結合內迴路的定性DCFDOB架構與外迴路的ALS-QFT控制器，使該系統具有排除外界干擾與抑制系統參數不確定性之能力，並以最小的系統控制力輸出即達到預定規格所期望之效能。該控制器最大的特點，在於內迴路之DCFDOB架構可先一步排除部分外來干擾與系統不確定性，減輕外迴路ALS-QFT控制器之負擔；而在外迴路ALS-QFT控制器設計部分，乃經由一套演算法計算得到一組最佳化之ALS-QFT控制器，可免除過去在傳統QFT設計之Loop-Shaping中，常碰到經驗門檻及反覆性設計之缺點。

在本論文中將分別介紹ALS-QFT與DCFDOB架構，並說明ALS-QFT/DCFDOB控制器之設計法則；接著推導磁浮軸承系統在遭遇偏心力、重力影響及期望剛性規格時所需滿足之QFT邊界規格並加入ALS-QFT/DCFDOB控制器藉以滿足該條件，使受控之磁浮軸承系統能抵抗上述影響而穩定，進而達到原先預期之響應。最後，以所得之ALS-QFT/DCFDOB控制器為基礎，藉由PC-Based控制器之實現技術，實現一數位化ALS-QFT/DCFDOB控制器，使得磁浮軸承系統具有高度強健性，達到期望之目標需求。

An ALS-QFT/DCFDOB controller is developed in this thesis to combine inner qualitative DCFDOB structure and outer quantitative ALS-QFT controller for rejecting environmental disturbance, tolerating system uncertainty and achieving expected performances of flexible rotor active magnetic bearing (AMB) with minimize control effort. The key feature of this controller is a part of environmental disturbance and system uncertainty can be rejected with inner DCFDOB structure. Therefore, the burden of ALS-QFT is abated. Furthermore, instead of iterating design and well-skilled experience, we can find an optimal QFT controller via calculating algorithm.

In this thesis, we will introduce respectively the ALS-QFT and DCFDOB structure before explaining the design rule of ALS-QFT/DCFDOB controller. Then we’ll show the condition of QFT when AMB subjected to partial force, gravity and expected rigidity. In order to satisfy the QFT condition and stabilize the AMB system to expected response, we introduce the ALS-QFT/DCFDOB controller. At last, realizing a digital ALS-QFT/DCFDOB controller with highly robustness based on PC to complete the goal.