(3.238.96.184) 您好!臺灣時間:2021/05/10 10:26
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:葉文植
研究生(外文):Wei-Jin Yen
論文名稱:複合式運動機具使用模糊滑動模式控制之設計與實現
論文名稱(外文):Design and Implementation of Fuzzy Sliding Mode Control for Hybrid Motion Machines
指導教授:秦繼華秦繼華引用關係
指導教授(外文):Jih-Hua Chin
學位類別:碩士
校院名稱:國立交通大學
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:2003
畢業學年度:92
語文別:中文
中文關鍵詞:滑動模式控制交叉偶合系統控制力
外文關鍵詞:Sliding mode controlCross-Coupled SystemControl function
相關次數:
  • 被引用被引用:0
  • 點閱點閱:139
  • 評分評分:系統版面圖檔系統版面圖檔系統版面圖檔系統版面圖檔系統版面圖檔
  • 下載下載:33
  • 收藏至我的研究室書目清單書目收藏:0
自由度,高精度的曲面加工機具已成為工具機產業的發展趨勢,本研究所開發之複合式五軸工具機,其構型由史都華平台搭配X-Y Table,除了具有史都華平台之精密定位之優點,又改善史都華平台工作空間過小之問題,不過在受控體分別是以不同軸卡的控制下,若要達到上述多軸控制的定位需求,除了整合系統之外,如何有效提昇系統的控制性能即成了當前重要的目標,本論文將逐一規劃出運用於六軸史都華平台與X-Y Table之運動控制軟體,其中為了完成線上(On line)對驅動器增益的調整上,結合滑動模式控制(Sliding Mode Control, SMC)與模糊控制(Fuzzy Control),成為模糊滑動模式控制器(Fuzzy Sliding Mode Control, FSMC),本研究以不同的3D曲面型態進行運動控制測試,在予以適當的FSMC Code下能夠使控制力(Control function)呈現較緩和的物理量分佈,且所得到的輪廓精度有較改善。

In modern industrial field, the machine tools necessarily have to develop with the increasing requirements of complex three dimensional tool paths and high precision. The parallel mechanism of Stewart platform has been made widely. It enable satisfied above requirements. However, it prevails only a limit motion space. To improve above problem, a novel five-axis machine tool, composed of 6-DOF Stewart platform and X-Y Table, has been studied in this paper. In order to achieve this purpose, they must be integrated for all work. Besides, how to improve the performance of high feedrate effectively. It is important to achieve above requirements. This paper arranged motion control software for a coordinated Stewart Platform Manipulator and X-Y Table. In order to achieve paved the way for adjustable gain. This paper makes a combination of SMC (Sliding Mode Control) and Fuzzy Control named FSMC (Fuzzy Sliding Mode Control). The study chose difference spatial curve for experiment comparisons. The show of control function enable more moderate by give suitable FSMC Code and improved situation in proportion to contouring accuracy.

中文摘要 i
Abstract ii
Contents iv
List of Tables v
List of Figures vi
Nomenclature ix
Chapter.1 緒論 01
Chapter2 模糊滑動模式控制 06
2.1控制理論介紹 06
2.1.1設計控制方程與滑動函數 07
2.1.2模糊控制的方法 08
2.1.3估測上限邊界值的方法 10
2.2模糊滑動模式控制器 12
2.3馬達驅動器增益調整 19
2.4軟硬體架設要點 20
2.5模擬與討論 22
Chapter3 FSMC運動控制模式 25
3.1軌跡規劃 26
3.2 FSMC+CCS演算 28
3.3系統架設   32
3.4運動控制軟體規 劃 33
Chapter4 實驗與探討         39
4.1實驗設備     39
4.2運動控制實測     41
4.2.1飛機翼曲面型態採FSMC+UCM、FSMC+CCM、MCCPM
測試輪廓精 41
4.2.2螺旋軌跡採FSMC+UCM、FSMC+CCM、MCCPM
測試輪廓精度 55
4.3 FSMC伺服控制實測結果                  64
Chapter.5 結論 68
參考文獻 70
附錄A:伺服馬達參數量測 73
附錄B:實驗工具機系統相片 75

01. Benchaib, Abdelkrim, Racid, Ahmed, Audrezet, Eric, and Tadjine, Mohamed, “Real-time sliding-mode observer and control of an induction motor”, IEEE Transactions on industrial electronics, vol. 46, NO. 1, February 1999, pp. 128-138
02. Utkin, V.-I., “Variable Structure Systems with Sliding Modes”, IEEE Trans. Automatic Contr., Vol, 22, 1977, pp. 212-222
03. Liaw, Chang-Ming, Lin, Yeoug-May, and Kuei-Hsiang Chao, “A VSS speed controller with model reference response for induction motor drive”, IEEE Transactions on industrial electronics, vol. 48, NO. 6, December 2001, pp. 1136-1147
04. Chern, T.-L., and Wu, Y.-C., “Design of brushless DC position servo systems using integral variable structure approach”, IEEE Proceedings-B, vol. 140, NO. 1, January 1993, pp. 34-27
05. Karunadasa, J.-P., and Renfrew, A.-C., “Design and implementation of microprocessor based sliding mode controller for brushless servomotor”, IEEE Proceedings-B, vol. 138, NO. 6, November 1991, pp. 345-363
06. Shieh, Hsin-Jang, and Shyu, Kuo-Kai, “Nonlinear sliding-mode torque control with adaptive backstepping approach for induction motor drive”, IEEE Transactions on industrial electronics, vol. 46, NO. 2, April 1999, pp. 380-389
07. Utkin, Vadim-I., “Sliding mode design principles and applications to electric drives”, IEEE Transactions on industrial electronics, vol. 40, NO. 1, February 1993, pp. 23-36
08. Park, Min-Ho, and Kim, Kyung-Seo, ”Chattering reduction in the position control of induction motor using the sliding mode”, IEEE Transactions on industrial electronics, vol. 6, NO. 3, July 1991, pp. 317-325
09. Slotine, J.-E., and Sastry, S.-S., “Tacking Control of Nonlinear Systems using Sliding Surface with Application to Robot Manipulators”, International Journal of Control, Vol. 38, pp. 456-492, 1983
10. Zakariya M., Al-Hamouz, and Hussain N., Al-Duwaish, “A new variable structure DC motor controller using genetic algorithms”, IEEE Transactions on industrial electronics, vol. 1, NO. 2, November 1998, pp. 1669-1673
11. H. N., Al-Duwaish, and Z. M., Al-Hamouz, “A genetic approach to the selection of the variable structure controller feedback gains”, IEEE International Conference on control applications Trieste, Italy 1-4 September 1998, pp. 227-231
12. Chen, T. C., and Hsu, J. U., “A Fuzzy Mode Controller for Induction Motor Position Control”, IEEE International of Engineering Science National Cheng Kung University, Taiuau, Taiwan, R.O.C, pp. 44-49
13. Kim, Duk-Heon, Kim, Hack-Seong, Kim, Jae-Mun, Won, Chung-Yueh and Kim, Sei-Chan, “Induction motor servo system using variable structure control with fuzzy sliding surface”, IEEE Transactions on industrial electronics, vol. 2, NO. 6, April 1996, pp. 977-982
14. Lin, F. J., Chiu, S. L., and Shyu, K. K., “Novel sliding mode controller for synchronous motor drive”, IEEE Trans. Aerospace and Electronic Systems, vol. 34, no. 2, pp. 532-542, 1998, pp. 532-542
15. Sarachik, P., and Ragazzini, J. R., “A two dimensional feedback control system”, Trans. AIEE, vol. 76, pp. 55-61, 1957
16. Koren, Y., “Cross-coupled biaxial computer control for manufacturing systems”, ASME Trans Journal of Dynamic System, Measurement and Control, Vol.102, No.4, 1980, pp. 265-272
17. Koren, Y., and Lo, Ch.-Ch., “Variable gain cross coupling control for contouring”, Annals of the CIRP, Vol.40, 1991, pp.371-374
18. Chin, Jih-Hua, and Lin, Tsung-Ching, “Cross-coupled precompensation method for the contouring accuracy of computer numerically controlled machine tools”, International Journal of Machine Tools & Manufacture 37, 1997, No.7, p947-967
19. Chin, Jih-Hua, and Lin, Shin-Tyi, “The path precompensation method for flexible arm robot”, Robotics & Computer-Integrated Manufacturing, Vol.13, No.3, 1997, p203-215
20. Lue, Chih-Wei, “A Study on the Coordinated motion of CNC machine and motion simulation platform”, National Chiao-Tung. , Taiwan , ROC. Master’s Thesis 2002
21. Wang, G. J., and Lee, T. J., “Neural-Network Cross-Coupled Control System with Application on Circular Tracking of Linear Motor X-Y Table”, 中國機械工程學刊, 1997, pp. 263-267
22. Yao, Bin, Mohammed, Al-Majed and Tomizuka, Masayoshi, “High performance robust motion control of machine tools: an adaptive robust control approach and comparative experiments”, Proceedings of the American Control Conference Albuquerque, New Mexiao June 1997, pp. 1669-1673
23. Lee, Je-Hie, Huh, Uk-Youl, and Park, Ho-Joon, “Improved Contouring Control for Multi-Axis System with Two-Degrees-of-Freedom Structure”, IEEE Catalong Number: 97 TH8280, 1997, pp. 901-905
24. Tomizuka, M., “Zero Phase Error Tracking Algorithm for Digital Control”, ASME Journal of Dynamic Systems, Measurement, and Control, vol. 109, pp. 65-68, 1987
25. Yeh, Syh-Shiuh, and Hsu, Pau-Lo, “Analysis and design of the integrated controller for precise motion systems”, IEEE Transactions on Control System Technology, vol. 7, NO. 6, pp. 706-717, November 1999
26. Yeh, Syh-Shiuh, and Hsu, Pau-Lo, “Analysis and Design of Integrated Control for Multi-Axis Motion Systems”, IEEE Transaction on Control Systems Technology, vol. 11, NO. 3, May 2003, pp.375-382
27. Wu, J. C., and Liu, T. S., “A sliding-mode approach to fuzzy control design”, IEEE Trans. Control System Technology, vol. 4, no. 2, pp.141-151, 1996
28. Reyad, El-Khazahi and Raymond, Decarlo, “Output Feedback Variable Structure Control Design”, Automatic, Vol. 31, pp. 805-816, 1995
29. Tseng, Yuan-Wei, Chen, Wen-Chuan and Chen, Armin, “Design and Implementation Motion and I/O Control ASIC-EPCIO”, Chutung, Hsinchu, Taiwan 310, R.O.C. E100 MIRL/ITRI, Bldg. 21-1995-3
30. Tzou, Ying-Yu, Yang, Andes, Hsieh, Cheng-Chang, Chen, Po-Ching, Ho, Chang-Yu, and Hsu, Ming-Jin, “Advanced Digital Motion Control Using SERCOS-based Torque Drives”, MIRL of ITRI and National Science Council, Taipei, Taiwan, R.O.C. Project no. C88051.
31. Wang, Meng-Hui, Hong, Qing-Bao, Lai, Qiu-Ging, Bai, Neng-Sheng, ”Control system engineering”, Addison Wesley Publishing Company, 1996, pp. 211-241
32. Hsi-Tse Wu, "TSSM史都華平台之餘隙校正", National Tsing-Hua., Taiwan, ROC. Master's Thesis 2003.

QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top
系統版面圖檔 系統版面圖檔