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National Taiwan Ocean University. 國立台灣海洋大學. 5/9 進度報告. 指導教授:曾慶耀 老師 李信德 老師 學生:李康維 學號: 10067036 日期: 2013/5/9. NTOU-SMCL Ship Maneuvering and Control Laboratory. 1. 小船 實驗 2 . 論文進度. NTOU-SMCL Ship Maneuvering and Control Laboratory. 經由實驗得證: θ LM = (1-r) × θ CR. θ LM.

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National Taiwan Ocean University

國立台灣海洋大學

5/9 進度報告

指導教授:曾慶耀 老師

李信德 老師

學生:李康維

學號:10067036

日期:2013/5/9

NTOU-SMCL Ship Maneuvering and Control Laboratory


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1.小船實驗

2.論文進度

NTOU-SMCL Ship Maneuvering and Control Laboratory


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經由實驗得證:θLM=(1-r) × θCR

θLM

θCR

NTOU-SMCL Ship Maneuvering and Control Laboratory


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θLM& θVCR

NTOU-SMCL Ship Maneuvering and Control Laboratory


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θLM & θCR& θVCR

NTOU-SMCL Ship Maneuvering and Control Laboratory


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θLM+CR & θVCR

NTOU-SMCL Ship Maneuvering and Control Laboratory


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θLM & θCR& θVCR

θLM+CR & θVCR

θLM& θVCR

NTOU-SMCL Ship Maneuvering and Control Laboratory


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θLM & θCR& θVCR

θLM+CR & θVCR

θLM& θCR

NTOU-SMCL Ship Maneuvering and Control Laboratory


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Thank youfor your attention.

NTOU-SMCL Ship Maneuvering and Control Laboratory


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以 LQR+PI控制法則實現倒單擺之直立定位模擬

NTOU-SMCL Ship Maneuvering and Control Laboratory


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以 LQR+PI控制法則實現倒單擺之直立定位模擬

台車位置

單擺角度

NTOU-SMCL Ship Maneuvering and Control Laboratory


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船隻航向線性二次控制器

未含控制器步階

含控制器步階

NTOU-SMCL Ship Maneuvering and Control Laboratory


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Set-point control

Often one does not want to make z as small as possible, but instead make it converge asfast as possible to a given constant set-point value r. This can be achieved by making the state x and the input u of the process (2.1) converge to values x and u for which.

回授結構

狀態空間

NTOU-SMCL Ship Maneuvering and Control Laboratory


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Set-point control

Given the desired set-point r for x, computing x and u is straightforward because (4.1)

NTOU-SMCL Ship Maneuvering and Control Laboratory


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Set-point control

When one wants z to converge to a given set-point value r, the state-feedback controller

the closed-loop system is given by

NTOU-SMCL Ship Maneuvering and Control Laboratory


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Set-point control

Set-point

NTOU-SMCL Ship Maneuvering and Control Laboratory


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