臺灣博碩士論文加值系統

為提升加工精度，如何降低追蹤誤差以及輪廓誤差為精密循跡運動控制的首要課題之一。本論文之目的為應用零相位誤差追蹤控制器於X-Y平台的循跡運動控制問題，藉由降低追蹤誤差的方式來提升循跡運動控制之精度。而在零相位誤差追蹤控制器的設計中，需要受控系統的精準模型，才能針對受控系統的極點以及零點作極零點對消，使系統不會存在相位落後而導致追蹤誤差之產生。但在實際循跡運動問題上，由於所求得之受控系統的數學模型不夠精準，而且亦存在有摩擦力、負載變化以及其他非線性之因素，導致所設計之零相位誤差追蹤控制器無法針對實際的受控系統達到精密的循跡運動控制。
針對上述問題，本論文提出基於基因演算法之零相位誤差追蹤控制器，藉由對於零相位誤差前饋控制器的參數最佳化，增強零相位誤差控制器對於受控系統極零點對消之準確性。由實驗結果顯示，對於不同的位置軌跡命令，均能有效地降低系統的追蹤誤差，達到消除相位落後之目的。

To improve contouring accuracy, how to reduce tracking error and contour error is one of the most important issues in high performance machining. The aim of this thesis is to apply the Zero Phase Error Tracking Controller (ZPETC) to the contour following control problem on X-Y table and to improve contouring accuracy by reducing tracking error. To achieve this goal, a precise model of the controlled system for the zero phase error tracking controller is needed. Otherwise, the phase lag due to inaccurate modeling will lead to significant tracking error. In addition, the efficiency of the zero phase error tracking controller will be affected by the external disturbance, load variation and other nonlinear phenomenon. To deal with this problem, the Genetic Algorithm (GA) is employed to properly tune the parameters of the Zero phase tracking error controller in this thesis. Experimental results show that the proposed approach can significantly reduce tracking error and improve the contouring accuracy.

中文摘要 I
英文摘要 II
誌謝 III
目錄 IV
表目錄 VI
圖目錄 VII

第一章 緒論.............................................1
1-1 研究動機與目的.................................1
1-2文獻回顧........................................2
1-3 論文架構.......................................4
第二章 零相位誤差追蹤控制器.............................5
2-1 完美追蹤控制器.................................5
2-2 零相位誤差追蹤控制器...........................8
第三章 基因演算法......................................14
3-1 編碼方式......................................16
3-2 挑選與複製....................................17
3-3 交配..........................................19
3-4 突變..........................................23
第四章 基因演算法應用於零相位誤差追蹤控制器............25
4-1 系統數學模型量測..............................25
4-2零相位誤差追蹤控制器設計.......................27
4-3 應用基因演算法調整零相位誤差追蹤控制器........36
4-4 位置命令前饋控制器............................42
第五章 實驗設備及實驗結果..............................43
5-1實驗硬體.......................................44
5-2實驗軟體.......................................45
5-3實驗結果.......................................45
第六章 結論與建議......................................65
參考文獻...............................................66

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