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研究生:陳成振
研究生(外文):Sing Ching Ting
論文名稱:雙軸平台循跡控制之比較研究
論文名稱(外文):Comparative Study of Contouring Control for Biaxial Systems
指導教授:陳世樂陳世樂引用關係
指導教授(外文):Shyh-Leh Chen
學位類別:碩士
校院名稱:國立中正大學
系所名稱:機械系
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:2001
畢業學年度:89
語文別:英文
論文頁數:72
中文關鍵詞:循跡控制雙軸平台交叉耦合零相位誤差滑動模式回授線性化
外文關鍵詞:contouring controlbiaxial systemcross coupledzero phase errorsliding modefeedback linearization
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(請參閱英文摘要)

<< ABSTRACT >>
The problem of contouring control is to design a proper controller for a multi-axis motion system so that the output positions of each axis will form a trajectory following a given desired path. This thesis aims to compare the performance of 3 contouring controllers for biaxial systems: conventional controller (Conventional), feedback linearization approach with a linear PID control (FLLC), and feedback linearization approach with an integral sliding mode control (ISMC). The last two contouring controllers are designed based on polar coordinates.
Conventional contouring controller is composed of three controllers, namely feedback, feedforward and cross-coupled controllers. With the feedback controller to stabilize the system, the feedforward and cross-coupled controllers are designed to reduce the tracking and contouring errors respectively. The three controllers are designed independently and then are integrated. On the other hand, both FLLC and ISMC are designed based on polar coordinate transformation of the system dynamics. In polar coordinates, the radial error is a good approximation for the contour error. Thus, the problem of contouring control is transformed into that of stabilizing the contour error dynamics. The feedback linearization technique is applied to the stabilization problem. The linear PID control or integral sliding mode control is then employed to the feedback linearized system to yield the integrated contouring controller. Such a contouring controller has shown to integrate the effects of feedback, feedforward, and cross-coupled controllers systematically.
Under the same level of control effort, the average contour errors of the three contouring controllers are compared numerically and experimentally. Two different plants are considered with one linear and one nonlinear. The linear plant is also used in experiments. The circular and elliptic paths with various speeds are followed. The robustness against to the parameter variation is also investigated for each controller. It is found that the performances of the conventional controller and ISMC are compatible when following the circular path at low speeds. As contouring speed increases and/or the elliptic path is followed, however, the average contour error with ISMC is considerably lower than that with conventional controller. It is also found that both FLLC and ISMC achieve good results for either the linear or nonlinear plants, whereas conventional controller can achieve good performance for the linear plant only. Finally, both ISMC and conventional controller are found to possess good robustness to parameter variation, whereas FLLC is not robust. This indicates that FLLC cannot be applied to practical systems. It is found that ISMC achieves the best contouring performance, especially in noncircular and/or high-speed contouring.

<< CONTENTS >>
LIST OF FIGURES I
LIST OF TABLES IV
Chapter 1 Introduction 1
1.1 Preface 1
1.2 Motivations 2
1.3 Objectives 3
1.4 Chapter arrangement 4
Chapter 2 Literature Review 5
Chapter 3 Controller Design 10
3.1 Design of FLLC Controller 10
3.2 Design of ISMC Controller 13
3.3 Design of Conventional Controller 14
Chapter 4 Comparison by Simulations 19
4.1 Linear Plant Simulation 20
4.1.1 Controller Design 20
4.1.2 Results and Discussions 23
4.2 Nonlinear Plant Simulation 32
4.2.1 Controller Design 33
4.2.2 Results and Discussions 34
Chapter 5 Comparison by Experiments 44
5.1 Experimental Setup 44
5.1.1 Hardware Description 44
5.1.2 Software Description 48
5.1.3 Velocity Acquirement 48
5.1.4 Friction Model and Compensation 49
5.2 System Identification 50
5.2.1 Axial Dynamics Identification 51
5.2.2 Friction Force Identification 51
5.3 Experimental Results and Discussions 53
Chapter 6 Conclusions and Future Work 67
6.1 Conclusions 67
6.2 Future Work 68
Reference 69

<< Reference>>
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