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研究生中文姓名:古韋曜
研究生英文姓名:Ku, Wei-Yueh
中文論文名稱:二輪車之無模型滑動模式追蹤控制器設計
英文論文名稱:Design of Model-free Sliding Mode Tracking Controllers for Two-wheeled Vehicles
指導教授姓名:吳政郎
口試委員中文姓名:副教授︰張原彰
教授︰呂藝光
副教授︰莊鎮嘉
教授︰吳政郎
學位類別:碩士
校院名稱:國立臺灣海洋大學
系所名稱:電機工程學系
學號:10553013
請選擇論文為:應用型
畢業年度:106
畢業學年度:105
學期:
語文別:中文
論文頁數:55
中文關鍵詞:Model-free控制滑動模式控制二輪車超局部模型
英文關鍵字:Model-free controlsliding mode controltwo-wheeled vehicleultra-local model
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本論文之研究目的在於探討控制系統中動態模型未知時,利用Model-Free控制結合滑動模式控制以達成良好的控制效果。首先透過系統輸入及輸出訊號建立超局部模型,定義變數及狀態以建立狀態空間表示式,據以利用滑動模式控制法設計控制器。最後則利用二輪車之模擬及實驗結果來驗證此方法之可行性。
The goal of this thesis is to develop a model-free sliding mode control method for systems with unknown dynamic model. First, the dynamics of an unknown system is approximated by an ultra-local model constructed by using the input-output data. Based on the obtained ultra-local model, a sliding mode controller is designed to stabilize the unknown system. The proposed method is verified with simulations and experiments on a two-wheeled vehicle.
致謝----------- I
摘要----------- II
Abstract------- III
目錄----------- IV
圖目錄--------- VI
表目錄--------- IX
第一章 緒論------------ 1
1.1 研究動機與目的----- 1
1.2 文獻回顧---------- 1
1.3 論文架構---------- 2
第二章 二輪車系統動態模型-------- 3
2.1 二輪車系統模型-------------- 3
2.2 線性化系統模型-------------- 6
第三章 系統架構----------------- 8
3.1 兩輪車機構介紹-------------- 8
3.2 馬達、感測器及電路---------- 8
3.2.1 馬達--------------------- 8
3.2.2 速度感測器---------------- 9
3.2.3 鋰電池-------------------- 10
3.2.4 陀螺儀-------------------- 10
3.2.5 傾斜角度感測模組---------- 12
3.3 TMS320F28377S開發板--------- 13
3.3.1 類比數位轉換器(ADC)------- 14
3.3.2 脈衝頻寬調變模組(ePWM)---- 17
3.3.3 I/O Port (GPIO)---------- 19
3.3.4 Serial Communication Interface(SCI)------ 19
第四章 無模型滑動模式控制法---------------------- 24
4.1 The ultra-local model---------------------- 24
4.2 線上F之即時估計----------------------------- 24
4.2.1 一階系統--------------------------------- 25
4.2.2 二階系統---------------------------------- 25
4.3 無模型滑動模式控制--------------------------- 27
4.3.1 無模型滑動模式I-PID控制-------------------- 27
4.3.2 無模型滑動模式控制------------------------- 29
第五章 二輪車控制器設計-------------------------- 32
5.1 二輪車無模型滑動模式I-PID平衡控制器設計------- 32
5.1.1 模擬結果---------------------------------- 33
5.2二輪車無模型滑動模式平衡控制器設計------------- 38
5.2.1 控制器架構-------------------------------- 38
5.2.2模擬結果----------------------------------- 39
5.2.3 實作結果---------------------------------- 46
5.3 二輪車追蹤控制器設計與控制流程---------------- 47
5.3.1 模擬結果---------------------------------- 49
5.3.2實做結果----------------------------------- 50
第六章 結論與未來展望---------------------------- 52
6.1 結論--------------------------------------- 52
6.2 未來展望------------------------------------ 52
參考文獻---------------------------------------- 53

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全文檔開放日期:2017/07/19
 
 
 
 
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