臺灣博碩士論文加值系統

本論文的重點則是用插補的方法配合著各軸已知的系統動態特性，然後利用頻譜分析與頻域響應的觀念，事先將其對於加工時所產生的各軸伺服誤差量預測出來，然後於插補時將各軸伺服誤差的效應事先考慮進去，然後對其進行伺服誤差補償的動作，進而可以改善各軸的跟隨誤差（Following Error）量以期得到較佳的加工精度。然而，使用這個方法不但可以使得利用控制法則所殘留的跟隨誤差量可以再降低外，對於控制中面臨的高進給速率所產生較大跟隨誤差量，進而使得加工精度大受影響的問題，也可以得到較佳且有效的改善。

Conventionally industrial CNC machine tools or robotic manipulators use feedback control methodologies to reduce the tracking error for precision motion control. This thesis presents a different method, which uses interpolator compensations to reduce the following errors. Subsequently it improves the accuracy for circular and linear tracking. Two applications for contour and following error reductions are presented in this thesis, such as 1. circular and linear motion and 2. high feedrate motion. The experiment results show that the contour and following errors are reduced by our approach.

第一章 緒論 1
1-1 研究目的與動機 1
1-2 CNC做動流程簡介 2
1-3 文獻回顧 4
1-4 論文架構 6
第二章 理論分析 7
2-1 關聯與頻譜密度 7
2-2 波德圖分析 11
2-3 伺服誤差的預測 15
2-3.1 單一頻率的輸入訊號伺服誤差預測 15
2-3.2 多個頻率的輸入訊號伺服誤差預測 16
2-3.2.1 傅立葉級數逼近法 16
2-3.2.2 速度曲線逼近法 17
2-4插補器的伺服誤差補償法則 21
第三章 圓弧插補的誤差補償模擬結果 24
3-1 系統伺服誤差的預測 24
3-2 插補器的伺服誤差補償 27
3-3 高進給速率的循圓 30
第四章 直線插補的誤差補償模擬結果 34
4-1 直線插補訊號的頻譜分析 34
4-2 直線插補的誤差補償與模擬結果 37
4-3 直線型加減速法則插補訊號的頻譜分析 41
4-4 直線型加減速法則的誤差補償與模擬結果 43
4-5 鐘型加減速法則的誤差補償與模擬結果 46
4-6 多個Block的插補訊號誤差補償與模擬結果 50
4-7 轉角的插補訊號誤差補償與模擬結果 53
4-8 加入Window以解決輸入訊號不連續的問題 57
4-9 微處理器所耗費的計算時間 62
第五章 實驗結果 64
5-1 實驗設備 64
5-2 系統特性鑑定 68
5-3 圓弧插補的誤差補償實驗結果 71
5-4 直線插補的誤差補償實驗結果 77
5-5插補器誤差補償法則與前饋控制器的結果比較 80
第六章 結論與未來研究方向 83
參考文獻 85

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