臺灣博碩士論文加值系統

在精密定位運動控制系統中，摩擦力確實是影響系統精確度的重要因素之一。本論文針對X-Y平臺為實驗研究的對象，研究摩擦力對雙軸運動控制系統所產生的路徑誤差及其補償方式。首先利用X-Y平臺交流伺服驅動器所提供的介面訊號，以實驗的方式建立本實驗設備中X、Y軸的摩擦力模式，並透過HP35670A動態訊號量測分析儀測量、估測系統模式的參數。利用適應控制改善軸間的動態響應差異，再利用交錯耦合控制器以改善摩擦力對雙軸運動控制系統所產生的路徑誤差。
最後把所設計的控制補償器，經由電腦模擬及實驗結果得知，摩擦力對系統路徑誤差的影響可獲良好的改善。

The contour error is one of the most important specifications of a machine that has synchronous motion of multiple axes. To improve the tracking error of each axis is a sufficient way to reduce the contour error. The small tracking error, however, is usually done by high gain that is not practically.
For reducing contour error of synchronous motion, the match of the dynamic characteristics, including nonlinear properties such as friction and backlash, of all axes is the essential issue. In this study, the plant to be controlled is a X-Y table, powered by servomotors, and the MRAC is used firstly to match the linear portion of dynamic characteristics of two axes. Moreover, the cross-coupled control scheme is utilized for further improvement of contour error.
The computer simulations and experiments are presented to verify the usefulness of the algorithm. The results of experiments show that the contour error is reduced.

目 錄
中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表目錄 vi
圖目錄 vii
符號表 xi
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 4
第二章 摩擦力及系統模式建立 6
2-1 常見的摩擦力數學模式介紹 6
2-2 實驗設備介紹與系統架構 10
2-3 摩擦力模式建立實驗 11
2-4 系統模式建立實驗 20
2-5 系統穩定度分析 30
第三章 雙軸運動控制系統路徑誤差之摩擦力補償 32
3-1 雙軸運動控制系統之路徑誤差 32
3-2 適應控制的設計原理及應用定理 36
3-3 系統適應控制器設計 39
3-4 交錯耦合控制及其系統穩定度 47
第四章 模擬及實驗結果 51
4-1 實驗架構及方法 51
4-2 模擬與實驗結果分析 54
第五章 結論與未來研究方向 69
5-1 結論 69
5-2 未來研究方向 70
參考文獻 71

參考文獻
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