臺灣博碩士論文加值系統

本論文針對吊車系統(Overhead Crane System)，提出基於滑動模式控制並利用視覺回授之定位與抗搖晃控制。由於吊車系統本身具有欠驅動(Underactuated)、複雜之非線性動態、難以模型化之參數誤差以及摩擦力等因素，造成控制之精確度與穩定性不足。另外，很難以較少的驅動器，同時實現軌跡追蹤控制快速定位及最小的負載晃動的性能。本文中提出一耦合台車動態(Trolley Dynamics)與負載搖晃動態(Load-swing Dynamics)之滑動平面(Sliding Surface)，利用滑動模式(Sliding-Mode)控制器的設計，將負載搖晃之動態引入阻尼(Damping)效果以消除擺動；另外，所提出的滑動模式控制並不需精確動態模型，即可提供足夠的強健性以克服複雜之非線性動態、負載變化與摩擦力等非理想因素，確保精確的定位達成期望之控制性能，並基於視覺回授架構所具有的量測、辨識、位置追蹤等特性，提升吊車絕對位置之參考輸入軌跡追蹤能力。模擬與實驗結果皆顯示出本文所提出之控制法則在貨物運送過程中，可確保漸進穩定之滑動平面、精確之台車位置追蹤以及優異之抗搖晃效果。

In this thesis, we present an anti-swing control scheme based on the sliding-mode control (SMC) for an overhead crane system using visual feedback. Since the overhead crane system is underactuated and highly nonlinear, the system performance is usually deteriorated by the system unmodelled-parameter errors and friction. On the other hand, to minimize load-swing angle and maximize the speed of load transfer are hard to consider and implement simultaneously by using fewer actuators. A sliding surface coupled with trolley and load-swing dynamics is designed to stabilize the load-swing dynamics by injecting the damping effect into the dynamics of the crane system. The proposed control law provides the robustness to unknown load variation and friction without an accurate dynamical model. Using visual feedback can improve the tracking capacity of absolute position. Simulations and Experiments show that the proposed control scheme ensures the asymptotically stability of sliding surface, precise trolley positioning, and good performance of the load-swing dynamics during the load transfer.

中文摘要 I
英文摘要 II
誌謝 III
目 錄 IV
圖 目 錄 VI
第一章 緒論 1
1.1 前言 1
1.2 研究動機與目的 2
1.3 文獻回顧 3
1.4 章節架構 4
第二章 視覺伺服吊車系統架構 5
2.1 系統架構 5
2.2 欠驅動系統特性 6
2.3影像特徵追蹤 6
2.3.1簡介 6
2.3.2 攝影機模型與投影幾何學的簡介 6
2.3.3影樣追蹤 8
2.3.4 影像處理流程與測試 9
第三章 吊車系統之滑動模式控制器設計 12
3.1 前言 12
3.2系統與問題描述 12
3.3基於滑動模式之抗搖晃控制設計 14
3.3.1 負載搖晃動態之穩定性分析 15
3.3.2 滑動模式控制器設計 17
3.4 模擬結果與討論 18
3.4.1 模擬案例 18
3.4.2 分析與討論 22
第四章 考慮負載變動與摩擦力之滑動模式控制 23
4.1 前言 23
4.2系統與問題描述 23
4.2.1考量負載變化之修正 24
4.2.2考量磨擦力之修正 25
4.3 基於滑動模式之抗搖晃控制設計 27
4.4 模擬結果與討論 30
4.4.1 模擬案例 30
4.4.2 分析與討論 37
第五章 吊車系統使用視覺回授之實務驗證 38
5.1 實驗機構與設備 38
5.2 使用實驗用吊車系統參數進行模擬 40
5.2.1模擬案例 40
5.2.2 分析與討論 46
5.3 實驗結果與討論 47
5.3.1 實驗案例 47
5.3.2 分析與討論 54
第六章 結論與未來展望 56
參考文獻 58
作者簡歷 61
發表著作 62

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