臺灣博碩士論文加值系統

在本論文中主要的目的在於探討撓性滑塊曲柄機構的曲柄角位置控制，利用可變結構控制器設計原理與穩定設計原理來控制曲柄角度達到所設計的角位置。穩定控制器設計原理是應用特徵值分析法來求解非線性耦合運動方程式以可變結構控制器設計曲柄角位置控制過程中，其經由線性化之後的特徵值，並藉由極點安置法設計方式，來改善整個線性化系統振盪行為的穩定度，進而使得在馬達驅動撓性機構控制過程中所產生的撓性振動量得以抑制下來。另外，在本論文中延伸探討的另一個重點則是針對撓性機構受撞擊的動態分析以及其振動控制。在此，描述機構受撞擊的力學分析方法包括有廣義動量平衡法、連續力量模型法及含有有效質量之連續力量模型法。這些分析方法都是基於能量守恆與衝量動量守恆方程式推導求得的。經由數值模擬結果可得知設計馬達驅動撓性滑塊曲柄機構不僅能達到所要控制的曲柄角位置，而且其所造成的撓性振動量也能藉由穩定控制器設計方法達到有效抑制的效果。

This paper applies the variable structure control (VSC) and the stabilizer design by using pole placement technique to position control of the flexible slider-crank mechanism under impact. The VSC strategy associated with its best advantages of robustness with respect to parameter variations and external disturbances is employed to regulate the slider position. In order to suppress the flexible vibrations simultaneously, the stabilizer design is involved. For the practical impact consideration, three approaches including the generalized momentum balance, the continuous force model, and the continuous force model associated with the effective mass compensation are adopted and derived based on the energy and impulse-momentum conservations. Simulation results are provided to demonstrate the performance of the motor-controller-flexible mechanism not only accomplishes good tracking trajectory of the slider position, but also eliminate the vibrations of the flexible connecting rod.

摘要 i
Abstract ii
誌謝 iii
Contents iv
計畫緣由與目的 vi
研究方法與成果 viii
結果與討論 x
Figure Captions xii
Table Caption xiv
Nomenclature xv
Chapter 1. Introduction 1
Chapter 2. Dynamic Analysis 4
Chapter 3. Mathematical Model for Impact Analysis of
Mechanism System 7
3.1 The GMB Approach 7
3.2 The CFM Approach 10
3.3 The CFM Associated with the EMC 15
Chapter 4. Design of Variable Structure Controller 17
4.1 Angular Position Tracking Controller Design 17
4.2 Stabilizer Design 19
4.2.1 Linearization 20
4.2.2 Pole placement Technique 22
4.3 Computational Algorithm 23
Chapter 5. Numerical Results 25
5.1 Speed Tracking Control 25
5.1.1 Constant Angular Speed 25
5.1.2 Constant Angular Speed Control 26
5.2 Angular Position Tracking 27
5.3 Speed Tracking Control with Impact 28
5.3.1 Constant Angular Speed with Impact 28
5.3.2 Constant Angular Speed Control with Impact 29
5.4 Angular Position Tracking with Impact 29
Chapter 6. Conclusions 31
Acknowledgement 31
References 32
Appendix A 36
Appendix B 40
Appendix C 40
Appendix D 42
Appendix E 42

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