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研究生:鄭新平
研究生(外文):Hsin-Pin Cheng
論文名稱:工具機軌跡追蹤性能的複合式系統分析
論文名稱(外文):A Hybrid System Analysis for Machine Tool Trajectory Tracking Performance
指導教授:顏家鈺顏家鈺引用關係
指導教授(外文):Jia-Yush Yen
學位類別:碩士
校院名稱:國立臺灣大學
系所名稱:機械工程學研究所
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:英文
論文頁數:89
中文關鍵詞:複合式系統工具機Lyapunov方法
外文關鍵詞:Hybrid SystemsNC machine toolsLyapunov methods
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在本論文之中,數值控制工具機的軌跡追蹤性能將使用複合式系統的分析方法來分析。一般而言,一個複合式的系統包含了一個事件管理者以及一些連續的動態系統,連續系統之間的切換由管理者來決定。就工具機的軌跡追蹤系統來說,把命令點的更新機制當成事件管理者,那麼工具機的位置控制系統就是連續動態系統。本文的主要理論由Lyapunov的方法建立,並由實驗印證理論。
In this thesis, hybrid system analysis techniques are used to analyze the NC-machine tool trajectory tracking system. In general, a hybrid system contains a supervisor and some continuous dynamics. Here, the trajectory command points updating process is thought as supervision, whereas the position controlled machine tool system is thought a continuous dynamic system supervised by the updating process. Lyapunov methods are used to construct the theory of stability in this thesis. Finally, the theory is verified by experiments.
Chapter 1 Introduction
1.1 Motivation
1.2 Literature Survey of Hybrid System Stability
1.3 Organization of This Thesis
Chapter 2 System Analysis
2.1 The System
2.1.1 Current Machine Tool System
2.1.2 System Model Description
2.2 Introduction to Lyapunov Stability
2.2.1 Introduction to Lyapunov stability
2.2.2 Stability for Linear Autonomous Systems
2.3 Stability Analysis
2.3.1 Preliminaries
2.3.2 Stability analysis of the system
2.4 Control System Error
2.5 Examples
Chapter 3 Experiments
3.1 Hardware Structure
3.1.1 EDM machine tool
3.1.2 Motion Card
3.1.3 Industrial PC
3.2 Software Structure
3.2.1 DSP firmware
3.2.2 Introduction to Windows CE 3.0
3.2.3 Windows CE applications
3.2.4 Communication of Windows CE applications and DSP
3.2.5 LineMove in Detial
3.3 Simulations
3.3.1 System ID
3.3.2 Introduction of the simulations
3.3.3 Simulations about Stability Analysis
3.3.4 Simulations about Control Error
3.3.5 Discussion
3.4 Experiments
3.4.1 Introduction
3.4.2 Experiments Based on Stability Analysis
3.4.3 Experiments Based on Control Error
3.4.4 Discussion
Chapter 4 Conclusion
Reference
[1] Fierro R., Lewis F.L. “A framework for hybrid control design” IEEE Tr. on Syst., Man, Cyb. Part A, Vol. 26, Nov. 1997.
[2] Fierro R., “A hybrid system approach to a class of intelligent control systems” Ph. D Thesis Univ. of Texas at Arlington August 1997.
[3] He K., Lemmon M. D. “Using dynamical invariants in the analysis of hybrid dynamical systems” Proc. IFAC 14th Triennial World Congress, 1999.
[4] He K., Lemmon M. D. “Lyapunov stability of continuousvalued systems under the supervision of discrete-event transition systems” ISIS-97-010 Tech. Rep., Univ. of Notre Dame.
[5] Matveev A.S., Savkin A.V. “Existence and stability of limit cycles in hybrid dynamical systems with constant derivatives Part 1”. General Theory Proc. IEEE Conf. on Decision & Control, Dec.1999.
[6] Matveev A.S., Savkin A.V. “Existence and stability of limit cycles in hybrid dynamical systems with constant derivatives Part 2. Applications Proc. IEEE Conf. on Decision & Control, Dec. 1999.
[7] Zhivoglyadov P. V., Middleton R.H., “On stability in hybrid systems” Proc. IEEE Conf. Dec. & Control, Dec. 1998.
[8]Beldiman O., Bushnell L. Duke University “Stability, linearization and control of switched systems” Proc. American Control Conference, June 1999.
[9] Schinkel M., Wang Y., Hunt K. “Stable and robust state feedback design for hybrid systems” Proc. American Control Conference, June 2000.
[10] Pettersson S., Lennartson B., “Stability and robustness for hybrid systems” Proc. IEEE Conf. on Dec. & Control, Dec. 1996.
[11] Pettersson S., Lennartson B., “Exponential stability of hybrid systems using piecewise quadratic Lyapunov functions resulting in LMIs” Proc. 14th Triennial World Congress, 1999.
[12] Pettersson S. “Analysis and design of hybrid systems” Ph.D. Thesis Chalmers Univ. of Technology, 1999.
[13] Mikael Johansson and Anders Rantzer ,”Computation of Piecewise quadratic Lyapunov functions for hybrid systems”
[14] Ji W., Weidong H., “Formal Specification of stability in hybrid control systems” in R. Alur, T. A. Henzinger, E.D. Sontag
(Eds): Hybrid Systems III, LNCS 1066, Springer, 1996.
[15] Simic S.N., Johansson K.H., Sastry S., Lygeros J. “Lyapunov’s indirect method for hybrid systems” Proc. IEEE Conf. on Decision & Control, Dec. 2000.
[16] Kourjanski M., Varaiya P. “Stability of hybrid systems” in R. Alur, T.A. Henzinger, E.D. Sontag (Eds): Hybrid Systems III, LNCS 1066, Springer-Verlag, 1996.
[17] Yanpin R., Zuo Z., Qiufeng W., “Stability analysis of a class of switched systems” Proc. 14th World Congress, 1999.
[18] Rubensson M., “Discrete-time stability analysis of hybrid systems A Lyapunov Approach” Licentiate Thesis, Chalmers Univ. of Technology, 2000.
[19] Branicky M.S. “Stability of switched and hybrid systems” Proc. IEEE Conf. on Decision & Control, Dec. 1994.
[20] Nonlinear Systems Analysis second edition M. Vidyasagar Prentice-Hall international.
[21] Diagnosis and compensation of motion errors in NC machine tools by arbitrary shape contouring error Measurement” by S. Ibaraki1, Y. Kakino1, K. Lee1, Y. Ihara2, J. Braasch3 & A. Eberherr3.
[22] Xenofon Koutsoukos, Kein He, Michael Lemmon and Panos Antsaklis “Timed Petri nets in Hybrid Systems: Stability and Supervisory Control”
[23] G. Davrazos and N.T. Koussoulas “A Review of Stability Results for switched and Hybrid Systems” University of Patras, Electrical and Computer Engineeering Department, Rio Patras, GREECE, 1999
[24] Y.-R. Hwang “Cutting Error Analysis for Table-Tilting Type Four-Axis NC Machines.”
[25] Manfred Weck “Handbook of machine tools ” Vol1 New York : Wiley, 1984.
[26] Chao-Hwa Chang, Michel A. Melkanoff “NC machine programming and software design” London : Prentice-Hall International, 1989
[27] Hui-Man Chang, Jia-Yush Yen “An Analysis on the performance stiffness and robustness of a High Precision Machine Tool Servo Controller” Department of Mechanical Engineering National Taiwan University, 1999.
[28] http://www.microsoft.com/windows/embedded/ce.net/default.asp
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