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研究生:林軒民
研究生(外文):Shuan-Min Lin
論文名稱:諧波驅動系統之力矩控制
論文名稱(外文):Torque Control of Harmonic Drive System
指導教授:呂有勝呂有勝引用關係
指導教授(外文):Yu-Sheng Lu
學位類別:碩士
校院名稱:國立雲林科技大學
系所名稱:機械工程系碩士班
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:120
中文關鍵詞:諧波驅動系統適應性前饋補償器滑動模式控制器內模型控制器反覆學習控制器力矩漣波
外文關鍵詞:internal model controlsliding-mode controlHarmonic drive systemiterative learning controladaptive feedforward cancellationtorque ripple
相關次數:
  • 被引用被引用:3
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  • 下載下載:74
  • 收藏至我的研究室書目清單書目收藏:0
本文針對諧波驅動系統輸出之力矩漣波問題,設計了一個包含反饋控制器與前饋補償器之控制器架構,文中證明此控制器架構可有效地讓系統達到良好的暫態響應與軌跡追蹤,並可有效地抑制其系統所存在之摩擦力、低頻與高頻之干擾,使得諧波驅動系統可達到良好的力矩響應與克服因傳動誤差所產生之力矩漣波。
內模型控制器(IMC)是在頻域上做控制器設計,以系統模型近似的方式決定閉迴路之特性,使系統可系統化的產生出理想之力矩響應。反覆學習形式前饋補償器(ILC)、適應性前饋補償器(AFC)與干擾估測形式適應性前饋補償器(DOB_based AFC),此三種型式之前饋補償器均是以訊號壓縮與還原為基礎,將系統之週期性的干擾或誤差做傅立葉係數的取得,並利用係數求出適當的前饋補償量,文中將以實驗結果證明三者之穩定性與收斂速度。
實驗系統方面是使用日本HarmonicDrive公司與德國DLR研究單位,合作開發以諧波驅動齒輪發展之產品FHA-SP,驅動一機械臂進行實驗,控制器的實現方面,採用TI公司之TMS320C6711 DSK與Xilinx FPGA為核心之擴充子板構成控制實驗平台,並以C語言與硬體描述語言(VHDL)做為發展工具,由實驗結果可證明本文控制架構之可行性。
The purpose of the study is to reduce the output torque ripple of harmonic drive system by a control structure, which includes feedback controller and feedforward compensator. This control structure can improve transient response and tracking performance, and can eliminate the friction, low and high frequency disturbance of the system. Also, it can produce good torque response in the system and exactly cancel torque ripple coming from transmission error.
Internal model control is designed on frequency domain, which used closed-loop model-base control approach to decide close-loop performances of the system, It can provide the system to produce ideal torque response systematically. Iterative learning type feedforward compensator, adaptive feedforward cancellation and DOB_based adaptive feedforward cancellation are three kinds of feedforward compensators in this study. Based on signal modeling and signal restoration, these models can get Fourier coefficients from periodic disturbance or error signal, and use coefficients to get appropriate feedforward control signal. The outcome from the research shows the stability and convergent speed of three compensators。
In the experiment, we use FHA-SP, a joint product by Japan HarmonicDrive Corporation and German Aerospace Center(DLR). It includes a harmonic drive gear and torque sensor, to drive the 1-link robot manipulator. For implement controls, we combine TI’s DSK and an expansion board as our control kernel; besides, we use C language and hardware description language(VHDL) to take for developing tool. The results of the study evidence the feasibleness of this control structure.
摘 要 I
ABSTRACT II
誌 謝 詞 III
目 錄 IV
圖 目 錄 VI
表 目 錄 X
第一章 緒 論 1
1.1問題描述 1
1.2文獻回顧 4
1.3內容大綱 5
第二章 系統描述 7
2.1諧波驅動齒輪 7
2.2 FHA-SP 9
2.3力矩感測器 9
第三章 結合反饋與前饋之控制器設計 11
3.1控制器介紹 11
3.2內模型控制器 12
3.3反覆學習型式前饋補償器 12
3.4控制器穩定性分析 14
3.5基於傅立葉級數之反覆學習形式前饋補償器 17
第四章 適應性前饋補償器 19
4.1控制器介紹 19
4.2適應性前饋補償器設計 22
4.3基於干擾估測器之適應性前饋補償器設計 23
第五章 實驗結果 25
5.1實驗系統介紹 25
5.2系統鑑別實驗數據 26
5.3 IMC力矩控制 29
5.4 IMC+ILC力矩控制 32
5.5 IMC+AFC力矩控制 47
5.6 IMC+ DOB_based AFC力矩控制 54
5.7結論 55
第六章 結論與建議 66
參考文獻 68
附錄A:基於內模型原理之滑動模式控制器設計 71
A.1控制器介紹 71
A.2 線性狀態觀測器與滑動模式控制器設計 72
A.2.1可控型狀態觀測器與滑動模式控制器設計 72
A.2.2串聯型狀態觀測器與滑動模式控制器設計 77
A.3基於內模型原理之滑動模式控制器設計 82
附錄B:實驗結果 85
B.1串聯型狀態觀測器實驗結果 85
B.2 SMC力矩控制 86
B.3 IMP_based SMC力矩控制 87
B.4結論 88
附錄C:FHA-SP機械結構與模型建立 89
附錄D:TI TMS320C6711 DSK簡介 91
附錄E:自製TI TMS320 C6X DSK擴充子板簡介 95
附錄F:DSK ON-BOARD FLASH ROM & 擴充子板ON-BOARD FLASH ROM使用簡介 99
附錄G:實體實驗系統照片 103
附錄H:HARMONIC DRIVE APPLICATION 104
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