二轴陀螺仪动态平台控制及应用於自动测试系统 - 中华科技大学.DOC

The Implementation of PC-Based Real-Time Control Systems Using Pole-Zero Cancellation Method PC-Based即時控制系統之極點零點消去法實現 中華科技大學 11581 台北市南港區研究院路三段245號 Tel: E-mail: ABSTRACT The goal of this paper is to implement the pole-zero cancellation approach in PC-based real time control systems by using mathematic model blocks in VisSim software package environment. We use PC as a controller to apply pole-zero cancellation approach in PC-based real time control systems. A design example using the real control system, FB-33 servo control system, based on the pole-zero cancellation approach is given. The pole-zero cancellation controller can be easily obtained according to the desired dynamic performance specifications of the closed-loop system. Finally, the PC controller uses the pole-zero cancellation controller and data acquisition system to control the FB-33 servo control system. The satisfied results are shown in this paper. Keywords：PC-Based Real-Time Control System, Pole- Zero Cancellation Method, Data Acquisition 摘要 本文以VisSim為系統發展環境，以數學方塊圖模式設計開發極點零點消去法，以PC為主控制器，實現極點零點消去法於PC-Based 即時控制系統。首先以實際FB-33伺服控制系統為例，應用極點零點消去法，以滿足性能規格需求，得到控制器適當之極點與零點；另外以VisSim為系統發展環境，模擬加入控制器後系統動態響應，並與性能規格需求作比對，驗證其正確性。然後再配合資料擷取模組與動態連結函數庫整合FB-33控制系統，完成PC-Based 即時控制系統，實現極點安置演算法於伺服控制系統。 關鍵詞：PC-Based即時控制系統、極點零點消去法、資料擷取 I. Introduction The root-locus approach to design is very powerful when the performance specifications are given in terms of time-domain quantities. In designing a control system, if other than a gain adjustment is need, we have to reshape the original root loci by adding a suitable compensator [1]. The transfer functions of many systems contain one or more poles that are very close to the imaginer axis of the s-plane. These poles may cause the system to be slowly response or lightly damped. We may insert a pole-zero cancellation compensator that has a transfer function with zero selected, which would cancel the undes