臺灣博碩士論文加值系統

現在產業界裡，需要求高精度、高性能與高經濟之下，以線性馬達系統可容易達到所需要求，但也需要一套系統控制理論，將線性馬達控制到我們所需要目標。
本論文提出一個以順滑模態控制原理，屬於一種強健控制系統架構，對系統達到理想之控制及定位。在本篇採用兩個不同順滑模態(Sliding mode)架構。一個可變結構觀測器，這個控制架構主要目的是為估測出非線性速度響應，再利用所求出速度訊號放入LuGre摩擦力模型內部狀態，求取其他無法預知訊號，將所得到訊號放入順滑模態控制架構裡。另一各架構是順滑模態軌跡控制器，此順滑控制器控制採用位置誤差作為控制器內部條件，將馬達作動達到所要求之目標，且將軌跡誤差降低極小，符合控制系統要求。
最後，將系統的響應訊號與理想訊號作比較，由模擬與實驗結果裡，得知此控制理論方法可得到系統控制及降低摩擦力之影響。

The need for high speed and high precision motion control in the machine tool industry and in the manufacture of semiconductors is rapidly growing. In order to achieve the high precision requirement, friction effects have to be considered in the motion system. Friction will lead to tracking errors, limit cycles and undesired stick-slip motion.
In this paper, a nonlinear state observer using variable structure systems theory is firstly proposed to estimate the velocity of linear motor. According to this estimated velocity, parameters of LuGre friction model and friction force are estimated based on closed velocity loop. When compared with the conventional open loop parameter estimation, this closed loop scheme is robust and remarkably reduces the effect of measurement noise. Then, a sliding mode controller with friction compensator is proposed to control the linear motor. It is effective to friction compensation and robust to parametric uncertainties.
Finally, the proposed controller is evaluated and compared experimentally on a microcomputer, which is ported a multitasking real-time kernel, controlled linear motor positioning system. The simulated and experimented results show that the velocity error is drastically improved by the sliding mode controller with friction compensator in a linear motor system.

中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表目錄 vi
圖目錄 vii
符號彙整 x
第一章 序論 1
1.1 研究動機與目的 1
1.2 文獻探討 2
1.3 研究方法 3
1.4 論文架構 4
第二章 系統架構與線性馬達簡介 5
2.1系統整體架構 5
2.2線性馬達簡介 6
2.2.1線性馬達結構 6
2.2.2線性馬達分類與特性 8
2.2.3線性馬數學模式 9
2.3實驗設備之簡介 12
2.4實驗之規劃 14
2.4.1扭力開迴路系統 14
2.4.2速度閉迴路系統 17
第三章 摩擦力介紹與系統架構參數估測 22
3.1摩擦力現象 22
3.2動態摩擦力模型(LuGre Modle) 26
3.3 估測摩擦力現象 29
3.4系統參數估測與摩擦力參數估測 32
3.5 系統平台質量、黏滯係數、庫倫摩擦力估測 34
3.6 Stribeck 速度常數估測 43
3.7 最大靜摩擦力估測 45
3.8 刺毛剛性係數與阻尼係數之估測 46
3.9 系統整體估測參數表 51
第四章 系統控制架構與摩擦力補償架構 52
4.1系統控制架構 52
4.1.1順滑模態控制架構 53
4.1.2可變結構估測器架構 53
4.2順滑模態概要 54
4.3可變結構控制原理 54
4.4順滑模態控制原理 57
4.5順滑模態控制器設計法則 59
4.5.1順滑模態控制的基本特性 61
4.5.2順滑模態控制器設計 62
4.6順滑模態狀態估測器設計原理 65
4.6.1可變結構估測器設計法則 65
4.6.2可變結構估測器設計 68
第五章 模擬與實驗 71
5.1順滑模態控制與可變結構估測器之模擬與實驗 71
5.2順滑模態控制器模擬 73
5.3可變結構估測器模擬 77
5.4順滑模態控制與可變結構估測器實驗結果 80
第六章 結論 85
參考文獻 86

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