臺灣博碩士論文加值系統

旋轉撓性結構系統在摩擦力存在下之超高精度定位控制

研究生：林志隆
指導教授：謝成 博士

　　本研究特別針對一般系統的撓性及摩擦力來做探討，並進一步改善旋轉撓性結構系統在靜摩擦力存在下，姿態控制之強健性及響應性能。

　　首先，藉由實際實驗來觀察旋轉撓性結構系統的運動行為，建立描述系統動態的數值模型。系統數值模型依運動範圍的不同來做區分，可分成巨觀和微觀兩種型態。而整個數值模型的建立過程是控制上高精度需求的成敗關鍵。系統微觀數值模型的建立，如何才能有效模擬系統在靜摩擦力影響下的運動行為，將是本論文的研究重心。

　　對於所建立之數值模型都必須先經由模擬和實驗的比較。來驗證其準確性，以防止系統心軸作功的錯誤而造成撓性板的擺動。最後再依照系統在不同運動範圍內的特性，選用適合的數值模型，然後根據各階段不同控制的目標來設計合適的控制律，藉以達到高精度定位及撓性板擾動抑制的控制需求。整個控制的效能，因為系統微觀模型及Position profile的加入而有不錯的提升。在定位精度上，撓性結構系統中心軸馬達(Hub)的定位精度可小於1弧秒。而長度1公尺的撓性板頂端擺動量，在控制器有效抑制之下，更可小於0.005mm。也就是說，該控制系統的性能在穩態響應的部份，已可達到系統硬體的極限。

Ultra precise positioning of a hub-beam system
with the existence of friction

Advisor ： Chen Hsieh
Graduate student : Gi-Lung Lin

　The topic of this research is aimed at flexibility and friction in a general system and improving the robustness and the response of the Hub-beam system simultaneously.

　According to the dynamic behavior of the Hub-beam system that is observed by experiments, set up the numerical model that describes the system. The whole setting-up course of the macroscopic and microscopic numerical model of the system is the key point of positioning with ultra precise demand. How to set up the microscopic model to simulate the microscopic behavior of the system with the existence of friction effectively, this thesis will be focusing on it.

　According to the characteristic within the range of different movements of the system, use the suitable numerical model, design suitable control law according to the goal of different control phase, to reach the demand of ultra precise position and perturbation Isolation control. The whole efficiency that controls has good improvement because of joining of the microscopic model and Position profile.

目 錄
中文摘要...................................I
英文摘要...................................II
致謝.......................................III
目錄.......................................IV
圖目錄.....................................VII
符號表.....................................IX

第一章 緒論
1.1 引言...............................1
1.2 實驗系統簡介.......................2
1.3 控制目的與困難點...................2
1.4 文獻回顧...........................3

第二章 系統數值模型建立
2.1 受控體數值模型建立.................5
2.2 致動器數值模型建立.................13
2.2.1 巨觀模型.........................13
2.2.2 微觀模型.........................14
2.3 感測器數值模型建立.................15
2.3.1 應變計輸出.......................15
2.3.2 光學感測器輸出...................16
2.4 旋轉撓性結構系統巨觀模型建立.......17
2.5 旋轉撓性結構系統微觀模型建立.......19
2.6 旋轉撓性結構系統巨、微觀之輸出程式.20
2.7 旋轉撓性結構系統數值模型驗證.......21

第三章 控制器設計與驗證結果
3.1 控制律設計.........................31
3.1.1 控制律介紹.......................33
3.2 第一階段控制器的設計介紹與設計流程.33
3.2.1 第一階段控制性能規格.............35
3.2.2 第一階段控制架構.................35
3.3 第二階段控制器的設計介紹與設計流程.35
3.3.1 第二階段控制架構.................36
3.3.2 第二階段控制性能規格.............36
3.3.3 控制器的設計與控制參數調整.......36
3.3.4 控制器設計流程...................37
3.4 第三階段控制器的設計介紹與設計流程.41
3.4.1 第三階段控制性能規格.............42
3.4.2 第三階段控制架構.................42
3.5 第四階段控制器的設計介紹...........42
3.5.1 第四階段控制性能規格.............43
3.5.2 第四階段控制架構.................43
3.6 平滑轉換器及Anti-Windup............44
3.6.1 平滑轉換器.......................44
3.6.2 Anti-Windup......................45
3.7 控制律實現與控制結果...............47
3.7.1 撓性結構控制系統實驗前的準備.....47
3.7.2 撓性結構控制系統的控制目標.......47
3.7.3 控制實驗的實現過程所遭遇的問題...47
3.7.4 旋轉撓性結構控制實驗結果與比較...49

第四章 結論
4.1 總結...............................54
4.2 未來規劃...........................56

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