黃孝平2006-07-252018-06-282006-07-252018-06-282005-12-12http://ntur.lib.ntu.edu.tw//handle/246246/9412本研究提出一個利用改良式繼電器回饋測試的系統化方法來進行性能評估與PI/PID 控制 器設計，以控制系統的增益邊限與相位邊限來評估其控制性能與穩定韌性。此改良式繼電 器回饋架構乃是將一個時延元件置於繼電器與控制器之間，用以線上的來估測系統的增益 邊限與相位邊限，估測之結果可用來評估控制器參數設定的優劣。若經評估後發現控制器 的參數必須重新調諧，則利用此架構以類似的方法可以來調諧PI/PID 控制器，使得系統滿 足設計者所指定的增益邊限與相位邊限。同時本研究也探討了增益邊限與相位邊限的指定 方式以達到不同的控制目的，此外，此方法亦可延伸應用至多環路控制系統中。藉此方法， 性能評估與控制器的改進可同時進行，確保控制系統能夠隨時維持在最佳性能狀態。A systematic procedure for performance assessment and PI/PID controller design based on modified relay feedback test is proposed. The gain and phase margins of a control system are used to assess its performance. The proposed method estimates the gain and phase margins on-line by a modified relay feedback scheme, where a delay element is embedded between the relay and controller. The estimated results are used to access the goodness of the controller parameters. When the retuning of controller is found necessary, a similar procedure can be applied to tune the PI/PID controller based on specifications of gain and phase margins. Thus, performance assessment and controller improvement can be done simultaneously, which ensures the system to have good performance in control.application/pdf288750 bytesapplication/pdfzh-TW國立臺灣大學化學工程學系暨研究所性能評估控制器設計增益邊限相位邊限繼電器回饋多環路控制performance assessmentcontroller designgain marginphase marginrelay feedbackmulti-loop controlreporthttp://ntur.lib.ntu.edu.tw/bitstream/246246/9412/1/932214E002008.pdf