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研究生:陳信豪
研究生(外文):Chen, Shin-Hao
論文名稱:液壓驅動史都華平台之強健性控制系統設計
論文名稱(外文):Robust Control System Design for a Hydraulically Driven Stewart Platform
指導教授:馮蟻剛
指導教授(外文):Fong I-Kong
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:電機工程學系
學門:工程學門
學類:電資工程學類
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:71
中文關鍵詞:史都華平台    液壓缸強健控制
外文關鍵詞:Stewart platformhydraulic cylinderrobust control
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本論文之內容是討論對液壓驅動史都華平台系統之建構及其姿態
控制的研究. 史都華平台是一個可提供六維運動的操作平台,藉由
六根腳軸的長度變化來改變其姿態.在本實驗中所採用的腳軸致動器為液
壓缸,為達控制之目的,推導時視平台負載擾動為不確定性,並將工作區內
的非線性特性作線性化處理,以獲得液壓缸之線性不確定參數模式.並依其
模式設計單軸液壓缸的控制器,再以步階及追縱命令來實驗測試,以驗證在
負載變動時其姿態控制的可行性.
This thesis reports the practical setup of a
hydraulically driven Stewartplatform, studies its attitude
control problem, and shows experimental results obtained from
the controlled platform. The Stewart platform is a
parallel manipulator capable of making six degreesof freedom
motion. It has six hydraulic legs to support an upper platform.
Whenlengths of these legs are controlled properly, the attitude
of the upper platform can be changed to follow any desired
trajectory commands within its working space. In this study,
the platform and the associated hydraulic system are assembled
fromcomponents first. Then a personal computer based controller
is established. Tocontrol the length of each leg, a linearized
model is derived, with the load on it regarded as the
uncertainty, and a robust controller is designed.
Receivingmeasurment from a leg length sensor, the controller
sends out signal to a proportionalvalve, which adjust the
pressure and length of the leg cylinder. Both forwardand
backward kinematics of the platform are studied. The backward
kinematics isused to compute desired leg lengths from the
attitude command, and the forward kinematics is used to compute
from measured leg lengths the attitude of the upperplatform,
which is not measured yet at this stage. Also limits on the
working spaceare alos considered by analyzing constraints put by
physically realizable leg lengths and balljoint angles.
Finally, experiments are performed to evaluate thestep and
tracking responses of the controlled system. The results
obtained are quite satisfactory.
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