跳到主要內容

臺灣博碩士論文加值系統

(3.235.120.150) 您好!臺灣時間:2021/07/31 12:50
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

我願授權國圖
: 
twitterline
研究生:林政豐
研究生(外文):Cheng-feng Lin
論文名稱:間歇運動定位平台殘振之改善
論文名稱(外文):Improvement of Residual Vibrations for Intermittent Positioning Tables
指導教授:蔡得民
指導教授(外文):Der-min Tsay
學位類別:碩士
校院名稱:國立中山大學
系所名稱:機械與機電工程學系研究所
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:76
中文關鍵詞:殘振加減速規劃運動控制
外文關鍵詞:residual vibrationacceleration planningmotion control
相關次數:
  • 被引用被引用:0
  • 點閱點閱:159
  • 評分評分:
  • 下載下載:0
  • 收藏至我的研究室書目清單書目收藏:0
追求高生產效率的自動化環境下,精密機械與設備的進給驅動之高速化是一種相當有效的關鍵技術之一。然而,任何機構或機械之工作平台及因不良的加減速運動所伴隨之殘振現象,將影響機械之精度、品質、與疲勞壽命等。所以,對此問題必須徹底分析了解以尋求解決對策,才能達到高生產效率與高品質的目標。因此,本論文將針對一高速化軟板沖孔定位平台,探討定位平台在做點到點急動急停之間歇運動時,馬達加減速運動在不同暫態時序下對於定位殘振之影響。並透過系統模擬架構的建立,與實驗結果相互驗證,分析出定位平台運動特性與定位殘振之關係,以改善定位平台達到快速又平穩的精密定位,作為往後設計馬達運動曲線之參考依據。
Recently, many industries pursue the goal of automatic high-speed assembly and manufacturing. So how to meet the requirement of high-precision and high-speed automatic assembly equipment is an important issue. In automatic assembly equipment, the inappropriate acceleration or deceleration motion will cause unsuitable inertia force and vibration to the positioning table. In order to reach the high production efficiency level, the problems of shortage of motor power, poor positioning accuracy, residual vibration, and noise shall be analyzed and solved.
In previous researches, the researchers all devote to study acceleration and deceleration based on symmetrical time chart. In this paper, we change the accelerating and decelerating phase to reduce inertia force and decrease residual vibration of point-to-point motion. The system model is built to simulate dynamic response of the system. Through the results of simulation and experiment, we will discover the relations between the properties of motion and residual vibration about the high-speed positioning tables. It is expected to improve residual vibrations and design motion profiles according to those effective transient response control charts.
目錄 Ⅰ
圖目錄 Ⅱ
表目錄 Ⅳ
符號說明 Ⅴ
摘要 Ⅶ
Abstract Ⅷ
第一章 緒論 1
1-1 前言 1
1-2 文獻回顧 2
1-3 研究動機與目的 3
1-4 研究方法 5
1-5 論文架構 6
第二章 軟板沖孔機台之設計 7
2-1 軟板沖孔機台簡介 7
2-2 機台控制系統 8
2-3 機台機械結構 10
2-4 定位平台慣性矩與馬達扭矩之關係 11
2-5 定位平台加速特性與馬達扭矩之關係 13
第三章 動態系統模型建立 16
3-1 系統模型 16
3-2 系統方程式 16
第四章 運動曲線之規劃與合成 26
4-1 運動曲線之特性 26
4-2 梯形運動曲線之規劃 26
4-3 S型運動曲線之規劃 30
4-4 S型不同時序運動曲線之規劃 37
4-5 模擬梯形與S型運動曲線之時序規劃 41
第五章 動態模擬與實驗量測 48
5-1 實驗設備 48
5-2 實驗規劃與步驟 50
5-3 實驗結果 52
5-4 實驗結果分析與討論 58
第六章 結論 65
參考文獻 67
附錄A 馬達速度響應及參數調整定 70
附錄B 動態系統參數設定 76
[1] 施慶隆、李文猶,1997,機電整合與運動控制:原理與單軸平台實例,高立圖書有限公司。
[2] Imamura, F. and Kaufman, H., 1991, “Time Optimal Contour Tracking for Machine Tool Controllers,” IEEE Control Systems, pp.11-17.
[3] Lewin, C., 1994, “Motion Control Gets Gradually Better,” Machine Design, No. 7, pp. 90-94.
[4] Meckl, P. H. and Seering, W. P., 1985, “Minimizing Residual Vibration for Point-to-Point Motion,” ASME Journal of Vibration, Acoustics, Stress, and in Design Reliability, Vol. 107, pp.378-382.
[5] Meckl, P. H. and Arestides, P. B., 1998, “Optimized S-Curve Motion Profiles for Minimum Residual Vibration,” Proceeding of American Control Conference, pp. 2627-2631.
[6] Meckl, P. H. and Seering, W. P., 1988, “Controlling Velocity-limited System to Reduce Residual Vibration,” IEEE International Conference on Robotics and Automation, Vol. 3, pp.1428-1433.
[7] Meckl, P. H. and Kinceler, R., 1994, “Robust Motion Control of Flexible Systems Using Feedforward Forcing Functions,” IEEE Transactions on Control Systems Technology, Vol. 2, No. 3, pp. 245-254
[8] Meckl, P. H. and Kinceler, R., 1996, “Corrective Input Shaping for A Flexible-Joint Manipulator Performing Point-to-Point Motion,” Proceedings of the IEEE International Conference on Control Applications, pp. 391-396.
[9] Meckl, P. H. and Shin, Y. J., 2003, “Effective Feedforward/Feedback Controller Design with Command Shaping to Reduce Residual Vibration,” ASME International Mechanical Engineering Congress, Washington, DC, U. S. A., IMECE2003-42797.
[10] Park, J. S., 1996, “Motion Profile Planning of Repetitive Point to Point Control for Maximum Energy Conversion Efficiency under Acceleration Conditions,” Mechatronics, Vol. 6, No. 6, pp. 649-663.
[11] Lee, M. Y., Sturm, A. J. and Lavalle, D. J., 1998, “New Approach for Robot Trajectory Generation with Velocity/Acceleration Clipping Constraints,” Advanced Robotics, Vol. 11, No. 7, pp. 713-723.
[12] Farouki, R. T., Tsai Y. F., and Wilson, C. S., 2000, “Physical Constraints on Feedrates and Feed Accelerations along Curved Tool Paths,” Computer Aided Geometric Design, Vol. 17, pp. 337-359.
[13] Jeon, J. W. and Ha, Y. Y., 2000, “A Generalized Approach for the Acceleration and Deceleration of Industrial Robots and CNC Machine Tools,” IEEE Transactions on Industrial Electronics, Vol. 47-1, pp. 133-139.
[14] Erkorkmaz, K. and Altintas, Y., 2001, “High Speed CNC System Design. Part I : Jerk Limited Trajectory Generation and Quintic Spline Interpolation,” International Journal of Machine Tools and Manufacture, Vol. 41, No. 9, pp. 1323-1345.
[15] Wang, W. and Yip-Hoi, D. M., 2003, “Modeling and Identification of Feed Drive Kinematics and Cycle Time Calculation,” ASME International Mechanical Engineering Congress, Washington, DC, U. S. A., IMECE2003-41651.
[16] Wilson, C. S., 1990, “Consideration for Motion Controller Trajectory Generators
,” Intelligence Motion Proceeding, pp. 1-14.
[17] Kim, D., Jeon, J. W. and Kim S., 1994, “Software Acceleration/Deceleration Method for Industrial Robots and CNC Machine Tools,” Mechatronics, Vol. 4, No. 1, pp. 37-53.
[18] 曾旭生,1996,“CNC控制器速度及加減速規劃之研究”,國立交通大學機械工程研究所碩士論文。
[19] 楊獻東,精密機械控制原理與模擬,1998,全華科技圖書有限公司。
[20] 林博正、陳世欣、李廣齊、康孝吉,2001,“伺服控制加減速曲線軌跡規劃研究”,第12屆自動化科技研討會光碟論文集。
[21] 周志峰,2001,“具有速度與加速度限制之多軸連續運動軌跡規劃”,國立台灣科技大學電機工程研究所碩士論文。
[22] 張維仁,2002,“具急衝度限制之多軸運動加速度規劃”,國立中央大學機械工程研究所碩士論文
[23] Dessaint, L. A., Hebert, B. J., Le, H. H., and Cavuoti, G., 1990,“A DSP-Based adaptive controller for a smooth positioning system,” IEEE Transactions on Industrial Electronics, Vol. 37-5, pp. 372-377.
[24] 羅啟雄,1998,“以DSP為主體之運動控制器設計製作與應用”,國立台灣科技大學電機工程研究所碩士論文。
[25] Carrica, D. O., González, S. A., and Benedetti, M., 2004, “A High Speed Velocity Control Algorithm of Multiple Stepper Motors,” Mechatronics, Vol. 14, No. 6, pp. 675-684.
[26] National Instruments Measurement and Automation Catalog,2003,National Instruments Co.
[27] MR-J2S Series Manual,2000,Mitsubishi Electric Co.
[28] NSK產品型錄,1999,日本精工株式會社.
[29] 陳鴻偉,1999,機械慣性值求法: GD2應用問題活用,復漢出版社。
[30] Rosenberg, R. C. and Karnopp, D. C., 1983, Introduction to Physical System Dynamics, McGraw-Hill Company.
[31] Gerald, C. F. and Wheatley, P. O., 1999, Applied Numerical Analysis, Addision-Wseley Publishing Company.
[32] Spotts, M. F. and Shoup, T. E., 1998, Design of Machine Elements, Prentice Hall Inc.
[33] 施慶隆、李文猶,2002,機電整合控制-多軸運動設計與應用,全華科技圖書有限公司。
[34] HP 35670A Dynamic Dynamic Signal Analyzer,2000,Agilent Technologies.
[35] HP 5529A Laser Measurement System,1999,Agilent Technologies.
[36] Rao, S. S., 2003, Mechanical Vibration, Addision-Wseley Publishing Company.
QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top