臺灣博碩士論文加值系統

傳統閥控液壓系統通常是採用定排量泵，雖有較佳的伺服控制響應，但因無論承受負載大小為何，均提供釋壓閥設定之供油壓力給系統，以致於造成能源使用效率較低。本文於閥控液壓缸系統，同時進行整合伺服控制(軌跡控制、速度控制與力量控制)與節能控制，在節能控制方面，於台科大自控所研究團隊中，已有多位先進完成整合負載感測控制以及定供油壓力控制，因此，本文延續上述之研究，於節能控制系統加入定功率控制，以期在不影響液壓系統之伺服控制性能條件下，實現高能源使用效率的整合控制系統。
本實驗之整合控制系統為包含閥控液壓缸系統伺服控制與節能控制系統的二進二出(TITO)之控制系統，同時進行整合控制時此兩子系統間會相互耦合影響，因此控制策略上，採用分離控制的解耦合(Decoupling)控制概念。控制器設計則是選用模糊滑動模式控制，以增加整合控制系統的強健性與穩定性，並簡化二進二出系統之模糊規則庫的複雜度，同時確保模糊控制系統之控制性能。此外，為配合系統之變動，於控制器中加入自組織(Self-organizing)修正器，對模糊規則庫作線上即時修正，使模糊規則更符合實際所需。
實驗結果顯示，在確保軌跡控制、速度控制及力控制等伺服控制性能下，本文研究成功地整合伺服控制與節能控制，以負載感測控制而言，與傳統釋壓閥設定供油壓力的方式比較，其可大幅減少系統的消耗能源。因此證實了閥控液壓缸系統之伺服控制與變排量負載感測系統之節能控制的可行性。
關鍵字：閥控液壓系統、智慧型平行控制、節能控制、伺服控制、解耦合控制、模糊滑動模式控制、自組織修正。

Conventional hydraulic valve-controlled systems with constant flow pump have better control response. Although supply pressure of pump of such systems is set by a relief valve according to the load of the hydraulic cylinder, the energy efficiency is lower. The objective of this research is to develop suitable controllers for combining servo control (i.e. path control, velocity control and force control) with energy-saving control (i.e. constant power control, load-sensing control and constant supply pressure control) in a hydraulic valve-controlled cylinder system so as to realize high energy efficiency and high servo control performance simultaneously.
The integrated control system is a two-input two-output (TITO) system, that is composed of the servo control system and the energy-saving system. The coupling interaction exists in the complex integrated system such that decoupling compensators are used. Controllers of is integrated system were developed by fuzzy sliding mode control theory. Fuzzy sliding mode control theory is used for simplifying the complex fuzzy rule bases of the TITO system and guaranteeing the robustness and stability of fuzzy control systems. Furthemore, self-organizing modifiers are also used on the FSMC control for adapting the control rules according to the environment variation.
The experimental results show that servo control, include path control, velocity control and force control, with load-sensing control can save energy substantially in comparison with the conventional system with relief valve and maintain excellent servo control performance. Thus the feasibility of the integration of servo control and energy-saving control on a hydraulic valve-controlled cylinder system is verified.
Keywords: hydraulic valve controlled system, parallel control, load-sensing system, energy-saving control, servo control, decoupling control, fuzzy sliding mode control, self-organizing modifier.

第一章 緒論
1.1 研究動機
1.2 電液負載感測系統
1.3 文獻回顧
1.3.1 電液負載感測系統
1.3.2 整合控制系統
1.3.3 控制理論
1.4 研究方向與本文架構
第二章 實驗機台架構與建立
2.1 整合控制系統架構
2.2 節能控制系統
2.3 閥控液壓缸系統
2.4 干擾缸系統
2.5 電腦控制系統
第三章 控制理論
3.1模糊滑動模式控制理論
3.1.1模糊滑動模式控制
3.1.2滑動平面規劃
3.1.3歸屬函數建立與解模糊化法則
3.1.4參數設定
3.2自組織模糊滑動模式控制理論
3.2.1 自組織法則
3.2.2 自組織模糊滑動模式控制
3.3 解耦合自組織模糊滑動模式控制理論
第四章 整合控制系統之實驗
4.1 節能控制系統之節能控制
4.1.1 節能控制系統之定功率控制
4.1.2 節能控制系統之負載感測控制
4.1.3 節能控制系統之定供油壓力控制
4.2 整合軌跡控制與節能控制
4.2.1 閥控液壓缸系統之軌跡控制
4.2.2 整合軌跡控制與定功率控制
4.2.3 整合軌跡控制與負載感測控制
4.2.4 整合軌跡控制與定供油壓力控制
4.2.5 節能效率分析
4.3 整合速度控制與節能控制
4.3.1 閥控液壓缸系統之速度控制
4.3.2 整合速度控制與定功率控制
4.3.3 整合速度控制與負載感測控制
4.3.4 整合速度控制與定供油壓力控制
4.3.5 節能效率分析
4.4 整合力控制與節能控制
4.4.1 閥控液壓缸系統之力控制
4.4.2 整合力控制與定功率控制
4.4.3 整合力控制與負載感測控制
4.4.4 整合力控制與定供油壓力控制
4.4.5 節能效率分析
第五章 結論與未來展望
5.1 結論
5.2未來展望

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