臺灣博碩士論文加值系統

壓電致動器由於具有微小位移解析度高、響應速度快等優異特性，近年來已被廣泛應用於奈米定位技術，但壓電材料特有的磁滯效應卻使得系統動態特性呈非線性，影響精密定位控制與設計上的困難。
本文針對常用於描述磁滯效應的麥斯威爾模型，提出修正的系統鑑別與建模策略，使麥斯威爾磁滯模型鑑別適用於系統具有殘餘應力或殘餘電荷的狀況，不再只侷限於初始值等於零的特殊情況；此文提出之磁滯模型修正策略，可利用鍵結圖之物理結構整合於建構壓電致動器的機電動態系統，普遍應用在基於逆動態模型(Inversed dynamic model)的前饋控制上，以有效改善設計控制器的效能。

摘要 I
誌謝辭 II
目錄 III
圖目錄 V
表目錄 VIII
第一章 緒論 1
1.1. 前言 1
1.2. 研究動機 2
1.3. 論文大綱 4
第二章 壓電致動器簡介 5
2.1. 壓電效應(Piezoelectric Effect)的發現 5
2.2. 壓電效應原理與基本特性 6
2.3. 壓電致動器(Piezoelectric Actuator) 7
2.4. 壓電致動器控制的潛在問題 8
第三章 磁滯效應與壓電致動器模型建構 11
3.1. 壓電致動器之機電原理 12
3.2. 傳統麥斯威爾磁滯模型建構法則 14
3.3. 壓電致動器模型 16
第四章 壓電致動器修正模型之建構策略 21
4.1. 含有初始狀態的壓電致動器模型 22
4.2. 初始狀態對壓電致動器模型的影響 28
4.3. 壓電致動器模型鑑別概念 29
4.3.1. 初始狀態衰減(decay)原理 29
4.3.2. 以程式模擬驗證理論之正確性 35
4.3.3. 以實驗結果驗證理論之正確性 37
4.4. 壓電致動器模型鑑別策略 38
4.4.1. 限制條件 39
4.4.2. 壓電致動器與磁滯模型建構 40
4.5. 壓電致動器逆模型(Inversed-model)控制策略[17] 43
第五章 壓電致動器模型建構與實驗結果 45
5.1. 實驗硬體架構 45
5.2. 磁滯模型建構與控制流程 46
5.3. 實驗結果與效能評析 47
5.3.1. 電腦模擬結果 47
5.3.2. 實驗效能評比 51
第六章 結論與未來研究方向 54
6.1. 結論 54
6.2. 未來研究方向 55
6.1.1. 即時(real-time)模型鑑別與控制[18] 55
6.1.2. 設計高等控制器 55
6.1.3. 考慮潛變(Creep)效應對模型的影響[20] 56
6.1.4. 高頻動態的模型修正[21][22] 56
6.1.5. 利用前饋控制提高定位速度與精度[23]∼[40] 57
參考文獻 59
Appendix A 64
Appendix B 68
Appendix C 76
Appendix D 78

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