| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 92 === System uncertainties induced by structural interactions and nonlinear pneumatic natures are evident in an electro-pneumatic platform control system. In this thesis, based on the concept of decentralized control, the system is separated into four subsystems, and structure interactions are considered as unknown external forces. It is concerned with the applications of self-tuning control and variable structure control to improve the angle control of an electro-pneumatic platform.
This text regards DSP (digital signal processor) as the operation controller. The self-tuning control algorithm can relocate the system poles. The system parameters are estimated via the recursive least square method, and the controller synthesis is achieved by the close-loop pole placement method. Thus, the two subsystems would have similar dynamic characteristics in order to overcome the structural differences. However, since pneumatic servo system is nonlinear and time-invariant, its controlled accuracy would be limitedly improved.
Besides, the variable structure control has the advantages of the pole placement control and variable structure control. Since the variable stricture controller can overcome the noise effect and degrade the dithering effect in the transient process, the platform will smoothly follow the sliding surface to reach the desired inclination. Finally, the feasibility and adaptation of proposed control algorithm will be proved by various experiments.
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