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研究生:蔡名威
研究生(外文):Tsai, Min-Wei
論文名稱:使用回授線性化與模糊邏輯系統之Stewart平台微定位控制設計
論文名稱(外文):Feedback Linearization with Fuzzy Logic Control for Six-Axis Stewart Platform-Based Micropositioning Systems
指導教授:林麗章
指導教授(外文):Lih-Chang Lin
學位類別:碩士
校院名稱:國立中興大學
系所名稱:機械工程學系
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:1997
畢業學年度:85
語文別:中文
論文頁數:83
中文關鍵詞:史都渥特微定位控制回授線性化模糊邏輯平行式機械臂
外文關鍵詞:Stewart平台StewartStewart platformparallel manipulatorfeedback linearizationfuzzy
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Stewart平台為一種六軸並聯的機構,其結構是在兩個平板間用六根支
柱以平行方式連結而成.採用此機構設計機械人時,由於其平行式的結構,
使得此種機械人具有以下優點:(1)不會累積各軸的誤差,因此高精度的要
求較易達成;(2)驅動軸上所承受的力量主要為壓應力,因此可承受較大的
負載;(3)平行式的結構使其剛性較高.這些優點使其在串聯式機械人無法
勝任的應用領域中深具淺力. 本文針對Stewart平台,假設六支柱均由
壓電致動器驅動,首先推導其動力學模式,再提出以回授線性化串聯模糊控
制器之複合控制策略,考慮Stewart平台的慣性力作用及狀態與各驅動軸間
的耦合效應影響,經適當地回授線性化解耦以求得活動平板各支點所需之
作用力,再轉換成各支柱壓電致動器所需之位移輸出量,最後利用模糊控制
策略產生各致動器所需之控制電壓,以達平台之精密定位目標.為了瞭解所
提控制策略之有效性,文中並以電腦模擬加以驗證.
Stewart platform is a six degree of freedom (DOF) parallel
manipulatoractuated by six linear actuators. The position and
orientation of the movingplatform is controlled by the lengths
of the six struts actuated by the linearactuators. Each actuator
is connected to the base end by a two DOF universaljoint, and
connected to the moving platform by a three DOF spherical joint.
Using this kind of closed loop mechanism for designing a six DOF
motion systemhas several advantages:(1) without error
accumulation of each axis to make itwith higher precision; (2)
the load force of each strut is only compressive,so it can bear
larger load; and (3) due to its closed loop structure, it
hashigher stiffness. In this thesis, we assume that the
twelve multi-DOF joints guarantee guiding precision and lack of
backlash, and that each strut is actuated by apiezoelectric
actuator. The dynamics model of the Stewart platform is
firstderived and a composite control strategy consisting of
moving platform model-based feedback linearization and simple
fuzzy logic control is proposedfor six-DOF micropositioning. By
cinsidering the six internal axial forceson the six spherical
joints at the moving end as the virtual actuating inputforces of
the moving platform, feedback linearization can be easily used
toderive the desired acting forces of the six struts to moving
the end-effector.The corresponding desired linear displacement
of each piezoelectric actuatorcan thus be computed based on the
strut model, and then each piezoelectricactuator''s control
voltage is generated by its simple SISO fuzzy logic controllaw.
Computer simulation are presented to illustrate the
effectiveness of thesuggested control strategy.
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