跳到主要內容

臺灣博碩士論文加值系統

(3.238.225.8) 您好!臺灣時間:2022/08/09 00:05
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果 :::

詳目顯示

: 
twitterline
研究生:陳斌勇
研究生(外文):Bin-Yung Chen
論文名稱:單節橈性臂設計與控制
論文名稱(外文):Design and Control of a Single Link Flexible Arm
指導教授:劉思正劉思正引用關係
指導教授(外文):Hsu-Jeng Liu
學位類別:碩士
校院名稱:國立屏東科技大學
系所名稱:機械工程系
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:2002
畢業學年度:90
語文別:中文
論文頁數:92
中文關鍵詞:單節橈性臂PD控制器LQR控制器田口法
外文關鍵詞:Single Link Flexible ArmPD ControllerLQR ControllerTaguchi Techniques
相關次數:
  • 被引用被引用:5
  • 點閱點閱:315
  • 評分評分:
  • 下載下載:57
  • 收藏至我的研究室書目清單書目收藏:0
本論文是有關單節橈性臂的設計與控制。研究工作包括,建立單節橈性臂的數學模式,分析其動態響應並進行模式簡化的驗證,然後依據簡化後的數學模式進行控制器的設計。另外,我們使用田口法技術,對單節橈性臂結構進行最佳參數設計。
首先,由進行數學模式簡化分析結果得知,當單節橈性臂承受一反正向扭矩測試時,真實模式與省略縱向變形模式兩者的位移響應與偏位量響應幾乎完全相同,因此我們先以省略縱向變形模式來代替真實模式。進一步,在低轉速條件下,我們再比較單節橈性臂的線性模式與省略縱向變形模式的差別;其結果顯示,兩者之位移響應、偏位量響應差異性也不大,所以我們可採用線性模式做為單節橈性臂控制器設計的參考模式。
接著,依據此單節橈性臂參考模式,我們進行PD控制器與LQR兩種控制器的設計與分析。由電腦程式模擬結果顯示,PD控制器對單節橈性臂的自由端位置響應,若要達到終值的2%內的安定時間要求,需要較長的時間;而LQR控制器對於單節橈性臂,則可以較快的達成。此結論也驗證了LQR控制器係利用最佳控制法則,並在適當的穩定邊限(stability margin)要求下,所設計出的單節橈性臂全狀態回授控制系統,當然具有更佳的動態響應。
最後在使用田口法技術,以進行多次控制系統的模擬與分析,於規劃單節橈性臂結構設計上;我們針對三種不同材質材料進行最佳參數設計,依滿足最小扭矩控制量的要求下,求得單節橈性臂結構設計的最重要參數。
This thesis is about a design and control of a single link flexible arm (SLFA). The research work includes establishing a SLFA mathematical model, analyzing its dynamic response and model simplification verification, and performing controller design using the simplified model. Furthermore, we performed an optimal parameter design for the SLFA structure using the Taguchi Techniques.
At first, from the model simplification verification, we found when the SLFA model was subjected to a test torque, a negative pulse followed by a positive pulse, the truth model and the model without considering longitudinal deformation, both of the models have almost the same displacement responses and deflection responses. Moreover, under a small rotating speed, the model can be further simplified. The simulation showed that when the linear model was compared with the previous simplified model, the displacement responses and deflection responses have only small variations. Therefore, It is concluded that we can use the linear model for the SLFA controller design.
Next, using the SLFA linear model, we started analyzing and designing of a PD controller and a LQR controller for the SLFA feedback control system. And, the simulation results show that the SLFA free-end response for a PD controller has a longer settling time using 2% criterion. Nevertheless, the LQR controller can achieve a much better response. This concludes and verifies that a LQR controller with a proper stability margin, using full states feedback, can achieve a fast and better response.
Finally, using Taguchi Techniques to perform many control system simulations and analysis were carried out, to optimize design parameters of a SLFA structure. We use three different materials and a minimum control torque requirement, to realize the SLFA structure major design parameters.
摘要…………………………………………………………… Ⅰ
英文摘要………………………………………………………. Ⅲ
誌謝……………………………………………………………. Ⅳ
目錄……………………………………………………………. Ⅴ
圖目錄…………………………………………………………. Ⅷ
表目錄………………………………………………………. ⅩⅢ
第一章 緒論
1.1 研究動機……………………………………. 1
1.2 文獻回顧……………………………………. 1
1.3 研究方法與步驟……………………………. 5
第二章 動態數學模式之建立
2.1 前言…………………………………………. 9
2.2 單節橈性臂的假設模式……………………. 9
2.3 縱向變形和橫向變形之動態方程式……... 14
2.4 省略縱向變形之動態模式………………. 21
2.5 動態模式轉換為狀態方程式表示法……... 23
2.6 模擬分析…………………………………. 25
2.7 結果與討論………………………………... 27
第三章 PD 控制器設計
3.1 前言………………………………………... 37
3.2 PD控制法則……………………………….. 37
3.3 PD控制器參數之選定…………………….. 38
3.4 模擬分析…………………………………... 42
3.5 結果與討論………………………………... 43
第四章 最佳控制器設計
4.1 前言………………………………………... 48
4.2 最佳控制理論……………………………... 48
4.3 線性狀態回授控制………………………... 50
4.4 模擬分析…………………………………... 51
4.5 結果與討論………………………………... 54
第五章 應用品質工程技術田口法分析
5.1 前言………………………………………... 65
5.2 田口法實驗程序設計……………………... 65
5.3 田口法實驗………………………………... 66
5.4結果與討論………………………………… 75
第六章 結果討論與未來研究
6.1結果討論…………………………………… 79
6.2未來研究…………………………………… 81
參考文獻………………………………………………………. 84
符號索引………………………………………………………. 89
作者簡介………………………………………………………. 91
著作……………………………………………………………. 92
參考文獻
1. 莊漢東、許安仁、蔡瓊星,2000,“自調式類神經PID控制器設計”,中國機械工程學會第十七屆學術研討會,第二冊控制與自動化,pp239-245。
2. 黃寶強,1999,“撓性手臂彎曲度/位置混合模糊控制之研製”,模糊系統學刊,第五卷第一期,第69-80頁。
3. C. W. Jen, D. A. Johnson, R. Gorez, 1996, “A reduced-order dynamic model for end-effector position control of a flexible robot arm”, Elsevier Science B.V., Mathematic and Computers in Simulation 41, pp539-558.
4. Gevarter, W. B., 1970, “Basic Relations for Control of Flexible Vehicles”, AIAA Journal, Vol. 8, No.4, pp.666-672.
5. Glen Stuart Peace, 1993, “TAGUCHI METHODS: A Hands-On Approach”, Addison-Wesley Publishing Company.
6. H. Asada, J. -H. Park, S. Rai, 1991, “A Control-Configured Flexible Arm:Integrated Structure/Control Design”, Proceedings of the 1991 IEEE International Conference on Robotics and Automation, California.
7. Hidenori Kimura, Kenji Akai and Taro Oike, 1989, “ROBUST STABILIZATION OF A FLEXIBLE ARM”, IEEE Proceedings of the 28th Conference on Decision and Control Tampa, Florida.
8. H. Krishnan and M. Vidyasagar, 1988, “BOUNDED INPUT FEEDBACK CONTROL OF LINEAR SYSTEMS WITH APPLICATION TO THE CONTROL OF A FLEXIBLE BEAM”, Proceedings of the 27th Conference on Decision and Control, Texas.
9. John T. Wen and Robert Buche, 1991, “Modeling and Control of a Rotating Flexible beam on a Translatable Base”, Proceedings of the 30th Conference on Decision and Control, Brighton England.
10. Meirovtch, L., 1986, “Elements of Vibration Analysis”, McGraw-Hill Book Co., New York.
11. Michael F. Barsky and Douglas K. Lindner, 1989, “Holographic Signal Processing for Control of a Flexible Beam”, IEEE Proceedings of the 28th Conference on Decision and Control Tampa, Florida.
12. MINORU SASAKI, HIKARU INOOKA and TADASHI ISHIKURA, 1990, “Manual Control of a Flexible Arm and its Application to an Automatic Control System”, IEEE TRANSACTIONS ON SYSTEM, MAN, AND CYBERNETICS, VOL. 20, NO.3.
13. M. M. Svinin, N. Ueno, M. Kaneko, T. Tsuji, 1996, “Modeling and Analysis of Dynamic Contact Point Sensing by a Flexible Beam”, International Conference on Robotics and Automation, Minneapolis, Minnesota.
14. P., M., Chang, 1990, “Control of A Highly Flexible Rotating Beam-Theory and Experiments”, M.S. Thesis, Department of Mechanical Engineering, Texas A&M University, America.
15. Prabhakar R. Pagilla, Masayoshi Tomizuka, 2001, “An adaptive output feedback controller for robot arms: stability and experiments”, Elsevier Science Ltd., Automatica 37, pp983-995.
16. Q. F. Wei, P. S. Krishnaprasad and W. P. Dayawansa, 1993, “MODELING OF IMPACT ON A FLEXIBLE BEAM”, Proceedings of the 32nd Conference on Decision and Control, Texas.
17. R. C. Dorf, 1998, “Electrical Engineering Handbook”, 2nd ed., CRC Press, Boca Raton, Fla..
18. R. C. Dorf and A. Kusiak, 1994, “Handbook of Manufacturing and Automation”, John Wiley & Sons, New York.
19. RICHARD C. DORF and ROBERT H. BISHOP, 2001, “MODERN CONTROL SYSTEMS”, NINTH EDITION, Prentice-Hall, Inc..
20. S. Icart, J. Leblond, C. Sarnson, 1992, “Stabilizing law for a flexible arm in torsion”, IEEE International Conference on Robotics Automation, Nice, France, pp794-799.
21. Toshio Fukuda and Atsushi Arakawa, 1989, “OPTIMAL CONTROL AND SENSITIVITY ANALYSIS OF TWO LINKS FLEXIBLE ARM WITH THREE DEGREES OF FREEDOM”, IEEE Proceedings of the 28th Conference on Decision and Control Tampa, Florida.
22. Tsuneo Yoshikawa and Koh Hosoda, 1991, “Modeling of Flexible Manipulators Using Virtual Rigid Links and Passive Joints”, IEEE/RSJ International Workshop on Intelligent Robots and Systems IROS ’91, Nov. 3-5, Japan.
23. Vincente Feliu, Kuldip S. Rattan, H. Benjamin Brown Jr., 1991, “Design and Control of a Two-Degree-of-Freedom Lightweight Flexible Arm”, Proceedings of the 30th Conference on Decision and Control, England.
24. WEN-JIEH WANG, SHUI-SHONG LU and CHEN-FA HSU, 1989, “Experiments on the Position Control of a One-Link Flexible Robot Arm”, IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, VOL. 5, NO. 3.
25. W. Li, X. G. Chang, F. M. Wahl, Jay Farrell, 2001, “Tracking control of a manipulatior under uncertainty by FUZZY P+ID controller”, Elsevier Science B.V., Fuzzy Sets and Systems 122, pp125-137.
26. W. T. Qian and C. C. H. Ma, 1991, “EXPERIMENTS ON A FLEXIBLE ONE-LINK MANIPULATOR”, IEEE Pacific Conference on Communications, Computers and Signal Processing.
27. Xuping Zhang, Yue-Qing Yu, 2001, “Motion control of flexible robot manipulators via optimizing redundant configurations”, Elsevier Science Ltd., Mechanism and Machine Theory 36, pp883-892.
28. Y. F. Li and X. B. Chen, 1998, “Tip Deflection Measurement and State Observation of a Flexible Robot Arm”, IEEE Instrumentation and Measurement Technology Conference, St. Paul, USA, pp. 1174-1178.
29. YOSHIYUKI SAKAWA and ZHENG HUA LUO, 1989, “Modeling and Control of Coupled Bending and Torsional Vibrations of Flexible Beams”, IEEE TRANSACTIONS ON AUTOMATIC CONTROL, VOL. 34, NO.9.
30. Yuin Wu and Alan Wu, 2000, “Taguchi Methods for Robust Design”, The American Society of Mechanical Engineers Three Park Avenue, New York.
QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top