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研究生:吳明昌
研究生(外文):Ming-Chang Wu
論文名稱:PID與模糊控制在營建工程自動化的探討
論文名稱(外文):discussion on PID and fuzzy logic control for automation in construction
指導教授:董必正董必正引用關係
指導教授(外文):Pi-Cheng Tung
學位類別:博士
校院名稱:國立中央大學
系所名稱:機械工程研究所
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:2004
畢業學年度:92
語文別:中文
論文頁數:145
中文關鍵詞:遮蔽金屬電弧銲移動機械臂焊接系統無線電方向判讀系統導航潛鑽工法
外文關鍵詞:shield metal arc weldingMobile Robotic Welding SystemRadio Direction Finding SystemHorizontal Directional Drilling Method
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摘要
在此論文中,控制技術將被應用於營建工程以達自動化,本文分別探討運用無線電方向判讀系統自走車於導航潛鑽工法之改善,及移動機械臂焊接系統於遮蔽金屬電弧銲之應用,已達修護焊接程序之自動化。
本文研發一撘載地下鑽頭數位定位接收器之自走車,該自走車具有無線電方向判讀系統,能定位移動或靜止之地下鑽頭且追蹤此鑽頭,不受限於一預定之軌跡或路徑,此自走車系統使用其車上無線電方向判讀系統迅即尋找及追蹤該移動或靜止之鑽頭,比較於傳統之導航潛鑽工法,此系統能減少操作人員、減輕勞力成本、避免意外及增加營建自動化程度。
無線電方向判讀系統之設計及如何定位追蹤目標,於本論文中所考量,為克服無法求得無線電方向判讀系統自走車之精確動態模組,一”模糊控制器”被設計用以控制此系統,且令此系統具有追蹤目標之能力,實驗結果證明此無線電方向判讀系統自走車能追蹤一移動或靜止目標。
傳統地,遮護金屬電弧焊接由人力所操作執行,因此,於危險區域施作焊接並不適合,例如於核能發電廠;當裂縫之位置被事先求得,此機械臂迅即被驅動以固定焊接速度沿焊接路徑前進,因為遮護金屬電弧焊接修護程序,電擊隨焊接過程消耗,故機械臂關節軌跡需要被修正,為保持固定焊接電流及電弧長度,控制系統由量測之焊接電流決定電擊之進給速度,同時修正關節軌跡,實驗結果顯示此系統能有效執行遮護金屬電弧焊且得到好焊接品質。
Abstract
In this thesis, the control technique is applied for the automation in construction. This article discusses the improvement in the horizontal directional drilling method (HDD) and the automation of the shield metal arc welding (SMAW)repair processes, respectively.
The ALV with an RDF system carrying a receiver can locate a moving or static underground drill head and track it. Not limited to a pre-determined track or path, the ALV system utilizes its on board RDF system instantaneously to seek and to track a moving or static drill head. Compared to conventional systems, the system reduces the number of operators, minimizes labor costs, prevents accidents, and enhances the degree of automation.
The design of the RDF system and how to locate a target are considered in this article. To overcome the difficulty in obtaining the precise dynamic model of the ALV with the RDF system, a “fuzzy logic controller” is designed to control such a system and make the system capable of tracking a target. Experimental results verify that such an RDF ALV system can track a moving or static target.
Conventionally, shield metal arc welding (SMAW) has been performed by manual operator, and hence it is not easy to apply in hazardous areas such as in nuclear power plants. The position of cracks can be determined beforehand; the robot is then driven at a constant welding speed along the welding path. Since the electrode is consumed during the SMAW process, the robotic joint trajectories need to be modified to keep the end of the electrode on tracking on the desired welding path. The control system determines the feeding velocity of the electrode from the measured welding current and joint positions and modifies the joint trajectories correspondingly. The experimental results show that our system can effectively perform SMAW operations resulting in good quality welding.
中文目錄
第一章 緒論............................................一
第二章 應用具無線電方向判讀系統之自走車於導航潛鑽工法之改
良...................................................五六
第三章 移動機械壁焊接系統於遮蔽金屬電弧銲之應用………五八
第四章 結論..........................................六十

Content
Abstract .............................................63
List of Figures ......................................65
List of Tables .......................................68
1. Introduction
1.1 Motivation....................................... 69
1.2 Organization .....................................69
2. Improvement of the Horizontal Directional Drilling Method by Using an
Autonomous Land Vehicle with a Radio Direction Finding System
2.1 Introduction .....................................71
2.2 Experimental Set-up ...................................................74
2.3 The Controller Design for the ALV System ...............................................77
2.4 Experimental Results and Discussion ...........................................82
2.5 Conclusion ...........................................86
3. A Mobile Robotic Welding System For SMAW Repair Processes
3.1Introduction ......................................103
3.2Trajectory Generation............................................105
3.2.1 Kinematics of Robot ................................................105
3.2.2 Inverse Robot Kinematics and Trajectory Generation.................107
3.3 Welding Current and Joint Position Control System..........................110
3.4 Experimental Set-up and Results……………………………………112
3.5 Conclusion & Discussion............................................115
4. Conclusion ...........................................135
62
References ...........................................136
Author Information ..........................................140
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