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博碩士論文 etd-0827101-215601 詳細資訊
Title page for etd-0827101-215601
論文名稱
Title
模液面控制系統之順滑模態控制器設計
The Design of Sliding Mode Controller for Mold Level Control System
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
85
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2001-07-30
繳交日期
Date of Submission
2001-08-27
關鍵字
Keywords
順滑模態控制、模液面控制
sliding mode control, mold level control
統計
Statistics
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中文摘要
本篇論文主要是針對模液面控制系統進行順滑模態控制器的設計,並與現行之PID控制器在系統的動態響應、控制的精準度、系統遭遇干擾時之處理作一比較。在設計順滑模態控制器的同時也進行了擾動的估測,以加強順滑模態控制器對系統模式的不確定,參數變化及外來的干擾之強健性。對於系統可能遭遇之干擾,考慮了引拔速度的改變,滑動閘開口面積之變化,時間延遲,模子底面積之變化,以及可能存在的Dead-Band等等。除此之外,本論文也提供了控制器設計參數對系統響應的影響。
Abstract
A sliding mode controller is proposed for controlling molten steel level in a mold of continuous casting machine in this thesis. The comparisons of dynamic response, control accuracy, and reaction to perturbation between proposed controller and PID controller currently used are also presented. A perturbation estimator is embedded in the sliding mode controller in order to enhance the robustness against model uncertainty, parameter variation, and external disturbance. The perturbation considered in this thesis includes variation of casting speed, variation of area of slide gate, time delay, variation of mold area, and Dead-Band etc.. In addition, the effects of adjusting the design parameter of the proposed controller on system’s dynamics are also considered.
目次 Table of Contents
摘要…………………………………………………………………………….i
圖目錄………………………………………………………………………...iv
第一章 前言………………………………………………………………..01
第二章 模液面控制系統簡介………………………………………..……04
2.1 模液面控制系統簡介…………..…………………………………….04
2.1.1系統之動作描述…………………..………………………………04
2.1.2方塊圖簡介………………………..………………………………05
2.2伺服放大器電路分析與………….…………………..………………..08
2.2.1電流電壓調節器….……………………………….………..……..09
2.2.2反相加法器.……………………………………………………….13
2.2.3反相高增益電路.………………………………………………….16
2.2.4功率放大器...………………..………………………………...…..26
第三章 順滑模態控制器的設計…………………………………………..34
3.1採用順滑模態控制器設計之理由…..……………………………...…34
3.2系統動態方程式描述與假設…………………..……………………...35
3.3順滑模態控制器的設計………………..……………………………...40
第四章 擾動對模液面控制系統之影響……………………………….….49
4.1引拔速度變化對系統影響…………………………………………….49
4.2 Dead-Band對系統之影響…………..…………………………….….52
4.3 Clogging對系統之影響…………..….……………………………….59
4.4 模子底面積改變對系統之影響..…………………………………….62
4.5 液壓缸時間延遲(Time-Delay in Cylinder)對系統的影響…..……....64
4.6 噴管時間延遲(SEN Time-Delay)對系統之影響……..……………...67
4.7 模振效應對系統之影響…..………………………………………….70
第五章 結論…………………………………………………………….….75
參考文獻……………………………………………………………………..77
附錄……………………………………………………………………….….79
參考文獻 References
[1] S. F. Graebe, G. C. Goodwin, and G. Elsley, “Control design and implementation in continuous steel casting,” IEEE Control Systems, Vol. 15, No. 4, pp. 64 - 71, 1995.

[2] H. L. Gillcs, J. A. Stofanak, W. Whitcman, and J. W. Brunicon, “Dynamic modeling of slab caster mold level control,” Reasearch & Technology Bethlehem Steel Corporation, pp. 15-27, 1995.

[3] M. Dussud, S. Galichet, and L. P. Foulloy, “Application of fuzzy logic control for continuous casting mold level control,” IEEE Trans. on Contr. Sys. Teghnology, Vol 6, No 2,pp 246-256, 1998.

[4] T. Kurokawa, T. Kondo, T. Mita, K. Liu, and Sampei, “Development of mold level control in continuous casting by H∞ control theory,” Second IEEE conference on control Applications, Vol. 2, pp. 865 – 871, 1993.

[5] F. Kong, R. D. Keyser, “Identification and control of the mould level in a continuous casting machine,” Second IEEE conference on control Applications, Vol. 1, pp. 53 – 58, 1993.

[6] K. Asano, T. Kaji, H. Aoki, M. Ibaraki, and S. Moriwaki, “Robust molten steel level control for continuous casting,” Conference on Decision and Control, pp. 1245-1250, 1996.


[7] W. C. Su, “Sliding surface design for singularly perturbed systems,” INT. J. Contr., Vol. 72, No 11, pp. 990 - 995, 1999.

[8] K. Erbatur, M. O. Kaynak, “A Study on Robustness Property of Sliding Mode Controllers: A Novel Design and Experimental Investigations” IEEE Trans. on Industrial Electronics, Vol. 46, No. 5, pp. 1012 – 1018, October 1999.

[9] 林國清,非線性非匹配系統之強韌調適順滑控制器設計,碩士論文,國立中山大學電機工程研究所,民國89年.

[10] 鄧九如,針對不確定動態系統之參考模式調適追蹤控制器設計,碩士論文,國立中山大學電機工程研究所,民國89年.

[11] A. S. Sedra, K. C. Smith, Microelectronic Circuits, Third edition, Saunders College Publishers, 1991.

[12] 楊儲糠,模液面控制系統之穩定度分析,碩士論文,國立中山大學電機工程研究所,民國90年.
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