| Summary: | 碩士 === 國立交通大學 === 電機與控制工程系所 === 92 === This thesis verifies the efficiencies of grey predictor on the prediction of the disturbances and the application to speed control of DC motor. Sliding-mode control is chosen here for speed control of DC motor because of its robustness of eliminating the matched disturbances. The traditional sliding-mode control has such property with the hypothesis that the upper bound of the disturbances is known. However, the upper bound of the disturbance is difficult to be measured or estimated exactly, and the system would be unstable if the upper bound is not well estimated. It is obvious that if the value of the disturbances could be predicted well, the upper bound would not be necessary information any more. In the thesis, the performances of grey predictor are evaluated with several distinct disturbances and compared with the performances of linear regression method. The simulation results show that grey predictor has well performances for the disturbances with lower frequency or less rapid variations, and it can solve the problem of estimating the upper bound of the disturbances.
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