6.1 結論
本論文針傳統錯誤鑑別法的缺點作改良,設計出由 voting equation 延伸設計出的輸出方程式,搭 配儲存記憶褪去式卡曼濾波器當觀察器鑑別錯誤及估測狀態值,過濾掉感測器輸出雜訊,並採用狀態 回授法將錯誤訊號更正回理想狀態值。由第四章 matlab 模擬可知本論文演算法可行,將此理論建立 實驗架構,利用馬達旋轉附上加速規測量馬達的轉速,將馬達上的多餘加速規量測到的向心加速度以 8051 中斷程式搜集,透過an 2r形成一多餘感測系統的配置關係產生 parity equations,將實驗所得 的數據代入 matlab 程式模擬驗證。
由第五章以真實系統馬達旋轉機構上測量三個加速規的實驗驗證的結果,不論錯誤訊號是程式 虛擬給定或實際由其中之一加速規產生的實驗,代入本論文即時錯誤鑑別法和狀態回授法,其結果仍 能像模擬程式一樣,可以讓觀察器觀察到錯誤訊號值及更正回理想訊號值。所以本實驗結果證明本 論文演算法可行。
目前我們發展出的即時錯誤鑑別及更正的方法為同一時刻多餘感測容錯系統僅允許一個感測 器出錯,未來改善可朝同一時刻可允許多個感測器出錯的演算,以及感測訊號為隨時變動過大時,此 容錯系統仍可即時鑑別及更正,如此可增加感測系統的可靠度及精確性。
6.2 未來計劃
1. 輸入馬達的電壓訊號以交流 sin 波時變驅動,讓馬達產生交流 sin 波的旋轉,再以本論文第五章的 實驗系統實驗,代入模擬程式模擬是否可行。
2. 改良錯誤鑑別演算法則,使系統可以允許兩個或以上的感測器出錯也可以即時鑑別估測錯誤值 及更正至理想值。
3. 韌體實現: 將即時錯誤鑑別及狀態回授法的 matlab 模擬程式寫成 C 語言程式,燒錄至 TI DSP TMS320F2812 的微處理器使得感測器出錯的錯誤值可直接透過微處理器 DSP 做即時錯誤的鑑別及 更正補償。
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