臺灣博碩士論文加值系統

為了改善模型不確定項對雙邊主從控制系統造成的影響，將滑動控制理論納入進行位置追跡控制器設計是一個有效可行的方法。然而使用此法需事先得知系統未知參數和干擾的界限，在實際應用上有其限制。本研究透過適應性控制法則，不斷於線上學習系統的未知緩時變參數，並保證所估測之非線性受控體參數為均勻最終有界，因此該控制器不需精確的系統參數。藉由加入強健控制設計概念，整體的控制架構具備強健性與線上調整控制器係數的優勢，並可改善傳統強健控制的缺點；穩健項部份則選用飽和函數以減緩顫振現象。本研究於主端使用具備能量耗散效果之阻抗控制器以呈現力量回饋，另外考量兩種強健控制法進行主從位置追跡目的，同時輔以Lyapunov-like穩定度分析確保閉迴路系統穩定，證明輸出誤差皆可漸進收斂。最後於自製的手指力回饋主從遙控系統實現所提出之雙邊位置/力量控制律。實驗結果證實所設計的阻抗控制器能有效進行主端力量追跡目標，考量實際系統安裝扭轉彈簧造成的非線性影響所設計之強健適應性控制器可有效解決不確定性問題以及獲得比單純使用強健控制設計較佳之位置追跡結果。當系統動態行為因於從端加入外在負載而改變時，此控制器亦展現較佳之強健性。

To handle the influences of model uncertainties in master-slave teleoperation systems, taking sliding mode control strategy into the bilateral position tracking control design has been proven as an effective and feasible method. However, this method has a practical limitation that the bounds of unidentified parameters and external disturbances must be known a priori. This study presents a robust adaptive controller (RAC) design for a fingertip bilateral control system. The presented RAC method combines the advantages of sliding mode control and adaptive control, which guarantees the estimation of nonlinear plant parameters to be uniformly ultimately bounded by updating the slow time-varying system parameters on-line and an accurate system model is not needed. A saturation function is applied to alleviate the chattering phenomenon for robust term adjustment. In the proposed bilateral control design, an impedance controller is used to provide desired energy dissipation characteristics for bilateral force tracking control. A classical robust control and the RAC design are applied to analyze the bilateral position tracking control performance and the closed-loop stability and asymptotic output error convergence is ensured via Lyapunov analysis. The experiments on an 1-DOF master/slave bilateral teleoperation system demonstrate that the presented bilateral control method can provide satisfactory position/force tracking control performance with consideration of the friction effects from torsion spring mechanisms. The proposed control design also shows its superior bilateral position tracking performance when the system dynamics are changed by adding unknown payloads to the slave side of the bilateral system.

摘要 I
Abstract II
致謝 III
目錄 IV
圖目錄 VI
表目錄 IX
符號表 X
1緒論 1
2系統模型與系統架設 8
2.1雙向控制系統模型 8
2.2系統架設 9
3控制演算法 13
3.1雙向控制系統運作原理 13
3.2阻抗控制(Impedance Control) 15
3.3滑動控制(Sliding Mode Control) 16
3.4強健適應性控制(Robust Adaptive Control) 22
4實驗結果 33
4.1滑動控制器－自由運動：薄邊界層vs.厚邊界層 35
4.1.1滑動控制器─自由運動：薄邊界層 35
4.1.2滑動控制器─自由運動：厚邊界層 38
4.2阻抗控制器&滑動控制器－接觸運動：軟木塞vs.保麗龍 41
4.2.1阻抗控制器&滑動控制器─硬物件：軟木塞 41
4.2.2阻抗控制器&滑動控制器─軟物件：保麗龍 44
4.3強健適應性控制－自由運動：是否考慮系統的非線性項 46
4.3.1強健適應性控制器─自由運動：未考慮系統的非線性項 47
4.3.2強健適應性控制器─自由運動：考慮系統的非線性項 51
4.4阻抗控制器&強健適應性控制器－接觸運動 55
4.4.1阻抗控制器&強健適應性控制器─硬物件：軟木塞 55
4.4.2阻抗控制器&強健適應性控制器─軟物件：保麗龍 58
4.5從端加裝未知負載－滑動控制器vs.強健適應性控制器 60
4.5.1滑動控制器─從端加裝未知負載Ⅰ&未知負載Ⅱ 60
4.5.2強健適應性控制器─從端加裝未知負載Ⅰ&未知負載Ⅱ 63
4.5.3滑動控制器─從端加裝未知負載Ⅰ&Ⅱ─增加穩健項增益 65
5 結論與未來方向 68
附錄A 滑動控制器之頻域分析 70
附錄B 力量感測器校正 76
參考文獻 78

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