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系統識別號 U0026-0608201811402000
論文名稱(中文) 觀測/卡爾曼濾波器系統辨識法的概觀、更進一步的註釋暨其在未知時延干擾系統的應用
論文名稱(英文) An Overview and Further Notes on OKID Method and Its Applications to Unknown Time-delay Systems with Disturbances
校院名稱 成功大學
系所名稱(中) 電機工程學系
系所名稱(英) Department of Electrical Engineering
學年度 106
學期 2
出版年 107
研究生(中文) 郭利亞
研究生(英文) Li-Ya Kuo
學號 N26051843
學位類別 碩士
語文別 英文
論文頁數 77頁
口試委員 指導教授-蔡聖鴻
口試委員-蔡宗吉
口試委員-郭淑美
口試委員-林明宏
中文關鍵字 時延系統  分散式電網  觀測/卡爾曼濾波器系統辨識法  非極小相位系統  等校未知雜訊估測  雜訊估測器  最佳化二次線性追蹤器  狀態估測器 
英文關鍵字 Time delay system  distributed power grid (DPG) system  observer/Kalman filter identification (OKID)  non-minimum phase systems (NMP)  disturbance estimator  optimal linear quadratic tracker  state estimator  equivalent-input-disturbance (EID) 
學科別分類
中文摘要 本論文探討觀測/卡爾曼濾波器系統辨識法應用在時延系統之概觀、更進一步的註釋與適用於有未知干擾的方陣非極小相位系統之強健數位追蹤器設計。主題包含了觀測/卡爾曼濾波器系統辨識法在單輸入單輸出/多輸入多輸出時延系統之建模,和針對未知雜訊之未知方陣系統提出結合了等效未知雜訊估測所建構的強健追蹤器。首先,以特定採樣週期精確辨識未知多輸入多輸出系統之極零點圖,如此以來極小/非極小相位系統之系統特性能被辨識出來。因此,這會使設計者做出重要決定。它適用於在廣泛的採樣週期內具有一般未知多輸入多輸出系統的完整零極點映射。此外,由於識別出的模型處於無延遲形式,因此適用於任何適當選擇的無延遲的控制方法。本論文提出建構式範例用以觀察觀測/卡爾曼濾波器系統辨識法在時延系統之結果,藉由觀察之結果設計步驟過程。最後以數值範例說明所提出方法之優點
英文摘要 An overview and further notes on the observer/Kalman filter identification (OKID) method with its appliactions to time-dealy systems and a robust digital tracker design for the unknown square non-minimum phase (NMP) systems with unknown disturbances have been proposed in this thesis. This includes the OKID method-based modellings of the single/multi time-delay systems and state estimator integrated with the equivalent-input-disturbance (EID) estimate robust tracker for the unknown square systems with unknown disturbances. One of the foremost applications is to precisely identify the pole-zero map of a general unknown complex multi-input multi-output (MIMO) system for any specific sampling period, so that the MP or NMP property of an unknown plant can be identified. Consequently, this may come up to an important decision for designers. It is applicable to have the complete pole-zero map of a general unknown complex MIMO system for a wide range sampling period. Moreover, due to the identified model is in the delay-free form, any appropriately selected delay-free control methodology is applicable. Numerical constructive examples are given to observe the consequence of applying OKID on time delay systems. By those observations, we can compose the proposed design procedures. And illustrative examples are given to demonstrate the superiority performance of the proposed approach.
論文目次 摘要 I
Abstract II
Acknowledgement III
List of Contents IV
List of Figures VI
List of Tables IX
Chapter 1 Introduction 1
Chapter 2 A Practical Distributed Power Grid (DPG) Control System 5
Chapter 3 Observer/Kalman Filter Identification 10
3.1. Basic observer equation 11
3.1.1. Markov parameter without observer 11
3.1.2. Markov parameter with observer 13
3.2. Computation of Markov parameters 15
3.2.1. System Markov parameters 15
3.2.2. Observer gain Markov parameters 16
3.3. Eigensystem realization algorithm 17
3.4. Computational steps of OKID 18
Chapter 4 OKID Method-Based Modelling of Time-Delay Systems 23
4.1. Constructive examples 24
Chapter 5 Digital Tracker Design for Known Square NMP Discrete-Time System with Matched Disturbance 48
5.1. A generalized optimal linear quadratic discrete tracker ………………………………………….49
5.2. Design the current output-based state estimator and disturbance observer 50
5.2.1. Construct a current output-based observer 51
5.2.2. Construct the estimation error dynamic equations 52
5.2.3. Perform the optimal linear quadratic observer design 53
5.2.4. Construct the artificial augmented model for servo control design 53
5.2.5. Perform the PICO-based optimal LQDT design 56
Chapter 6 Robust Tracker for Unknown Square NMP Time Delay System with Matched/Mismatched Input Disturbances 58
Chapter 7 Illustrative Examples 60
Chapter 8 Conclusion 74
Reference 75
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