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研究生:黃清復
研究生(外文):whang chen fu
論文名稱:帶驅動水下機械臂之設計與適應控制
論文名稱(外文):Design and Adaptive Control of A Tendon-Driven Underwater Manipulator
指導教授:林鎮洲
學位類別:碩士
校院名稱:國立海洋大學
系所名稱:機械與輪機工程學系
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:1999
畢業學年度:87
語文別:中文
論文頁數:90
中文關鍵詞:水下機械臂帶驅動適應控制慣量相關估測參數
外文關鍵詞:underwater manipulatortendon-drivenadaptive controlinertia-relatedparameter estimation
相關次數:
  • 被引用被引用:2
  • 點閱點閱:199
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:1
本研究是探討以適應控制法則應用於雙軸帶驅動水下機械臂運動控制的相關問題。由於水下環境的變動性與複雜度相較於陸地環境通常增加許多,使得水下載具或水下機器人在運動控制上增加許多困難度。適應控制可藉線上參數估測進行系統參數的更新,使得系統較易於收斂。我們提出以慣量相關適應控制法則應用於水下機械臂之軌跡控制以增加系統的強健性。文中對雙軸帶驅動水下機械臂以適應控制與古典控制進行實驗,並且比較二者之系統表現。我們亦探討未估測項對於系統之影響。由實驗結果顯示,適應法則會有將該項的效應分配於其他的估測參數項上的強健性表現。但若是變動過大則控制器亦無法對系統作較佳的控制。

In this study, we investigated the related problems of application of adaptive control algorithm on a tendon-driven underwater manipulator. The motion control problems of underwater vehicles or robotic systems are much more difficult than that in air. That is because the variations and complexity of the underwater environment increase more than that of regular environment in air. Adaptive control algorithm has the feature of causing a time-varying system to be stable by on-line estimating and updating the system parameters. To increase the robustness of the controlled system, we proposed the application of inertia-related adaptive control algorithm to an underwater manipulator. First, following the design rule of tendon-driven manipulator, we determined the key sizes of the manipulator such as the lengths of the links, the radii of the pulleys, and so on. Then we built and assembled an experimental prototype of a two-jointed tendon-driven manipulator. Next, the adaptive control and classical control algorithm were applied to the prototype, and the system performance was compared and analyzed. We also discussed the effects of non-estimated terms of the system. The experimental results showed that the adaptive controller behaved robustly by distributing the effects of non-estimated terms to other estimated parameters. In conclusion, through experiments we verified the validity of the adaptive control algorithm in application to the motion control of underwater manipulators, and its superiority to classical control algorithm.

第一章 緒論
1.1前言
1.2文獻回顧
1.3研究動機
1.4論文架構
第二章 理論背景
2.1帶驅動機械臂
2.2水下機械臂之動態模型
2.2.1流體動力之影響
2.2.2動態模型之建立
2.3控制法則設計
2.3.1計算扭矩法
2.3.2適應控制理論
2.3.2.1適應性慣量相關控制器
第三章 實驗設備
3.1 受控模組
3.2 控制與感測模組
3.3 控制介面模組
3.4 環境條件
3.5 校正
第四章 實驗結果與討論
4.1實驗方法
4.2實驗過程與結果
4.2.1 古典控制
(1) 比例控制
(2) 比例-微分控制
(3) 比例-微分-積分控制
4.2.2 適應控制
(1) 適應法則的權重因子對系統表現的影響
(2) λ對系統表現之影響
4.2.3 水下機械臂與陸上機械臂之比較
(1) PID控制法則
(2) 適應控制法則
4.2.4 適應控制與PID控制的比較
4.2.5 含摩擦力估測之適應控制
(1) 不含摩擦力估測之適應控制
(2) 含摩擦力估測之適應控制
4.3 討論
第五章 結論與未來展望
5.1 結論
5.2 未來展望
參考文獻
附圖
機械臂立體圖
零件組合圖
零件表

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