臺灣博碩士論文加值系統

在精密定位運動控制系統中，摩擦力是影響系統精確度的重要因素之一。在多軸運動控制系統中亦為影響路徑誤差之重要因素。本論文研究應用交錯耦合控制，並利用簡單PID控制來提高路徑控制精確度。此外並討論當中所遇到的問題例如：交錯耦合控制系統架構問題、路徑誤差相異問題、兩軸受控系統之動態差異對路徑誤差的影響。經由電腦模擬及實驗結果得知，交錯耦合PID控制能降低雙軸圓形運動控制系統之路徑誤差。

中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
第一章 簡介 1

1-1 問題陳述 1
1-2 文獻回顧 4
1-3 文章概述 5


第二章 雙軸運動控制系統之路徑誤差補償 6

2-1 雙軸運動控制系統之路徑誤差 6
2-2 交錯耦合控制及其系統穩定度 10
2-3交錯耦合控制系統之問題與討論 15


第三章 模擬及實驗結果 24

3-1實驗設備介紹與實驗目的 24
3-2 模擬與實驗結果分析 25


第四章 結論與未來研究方向 61

4-1 結論 61
4-2 未來研究方向 61

參考文獻 63

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