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國立台灣海洋大學

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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國立台灣海洋大學

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  1. 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

  2. 1.小船實驗 2.論文進度 NTOU-SMCL Ship Maneuvering and Control Laboratory

  3. 經由實驗得證：θLM=(1-r) × θCR θLM θCR NTOU-SMCL Ship Maneuvering and Control Laboratory

  4. θLM& θVCR NTOU-SMCL Ship Maneuvering and Control Laboratory

  5. θLM & θCR& θVCR NTOU-SMCL Ship Maneuvering and Control Laboratory

  6. θLM+CR & θVCR NTOU-SMCL Ship Maneuvering and Control Laboratory

  7. θLM & θCR& θVCR θLM+CR & θVCR θLM& θVCR NTOU-SMCL Ship Maneuvering and Control Laboratory

  8. θLM & θCR& θVCR θLM+CR & θVCR θLM& θCR NTOU-SMCL Ship Maneuvering and Control Laboratory

  9. Thank youfor your attention. NTOU-SMCL Ship Maneuvering and Control Laboratory

  10. 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

  11. 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

  12. 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

  13. 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

  14. 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

  15. 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

  16. Set-point control Set-point NTOU-SMCL Ship Maneuvering and Control Laboratory

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