Control of process with dead-time based on doubly coprime factorization disturbance observer structure

• Main Authors: Chen, Er-Chang, 陳二常
• Other Authors: Lee, An-Chen
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/20586695065102598071

碩士 === 國立交通大學 === 機械工程學系 === 99 === In this these, one provides a structure, which can be applied to stable, unstable, minimum phase, non-minimum-phase and integral systems with delays. In this structure, the inner loop is a doubly coprime factorization disturbance observer to suppress disturbance. For non-minimum phase systems, we can find optimal solutions by solving Nehari problem and Delay-type Nehari problem. The outer loop which use Smith predictor method can reduce effect of time delays and improve servo response. A robust structure is developed to treat plant uncertain. We applied the small gain theorem to design disturbance observer that satisfies the robust stability criteria. A simple and useful parameter tuning method is proposed. In the final chapter, we provided some numerical examples to verify the correctness of the theoretical developments.