本論文先針對軟性邊界接觸力進行分析研究。由於軟性邊界物理特性與彈簧
物理特性相似，故以彈簧模型取代軟性邊界模型進行方程式推導。整體架構包括
運動平台及軟性邊界接觸力藉自由體圖推導出系統模型，其中有些參數不易直接
量測，則以頻率響應方法進行系統鑑別以取得系統參數。針對此系統硬體架構上
之限制及控制性能以根軌跡設計PD控制器進行力量控制，並以頻率響應方法對
閉迴路系統加以分析，再以軟體模擬其系統響應。最後以DSP作為控制核心，
進行實驗驗證。

The model of contact force on flexible boundary is built by using the spring model, since the response of flexible boundary is similar to a spring. A complete model includes linear stage, force sensor, contact head and flexible boundary is constructed by taking free body diagram. Some parameters are impossible to be measured directly. These unknown parameters are obtained by system identification in frequency domain. Using root-locus technique, a PD controller is designed to control the contact force based upon the hardware constraints and desired performance. After analysis being performed in frequency domain and software simulation, a DSP based real-time feedback contact force control system is implemented. The desired performance and the characteristics of contact force control system on flexible boundary are verified in experiments.

中文摘要..............................................i
英文摘要.............................................ii
誌謝................................................iii
目錄.................................................iv
表目錄...............................................vi
圖目錄..............................................vii
一、 緒論.........................................1
1.1 研究背景與文獻探討...........................1
1.2 研究目的.....................................2
1.3 研究方法.....................................3
二、 系統實驗架構.................................4
2.1 硬體架構.....................................4
2.1.1 TMS320VC5510 DSK.............................6
2.1.2 I/O介面卡....................................7
2.1.3 馬達驅動器與交流伺服馬達.....................9
2.1.4 量感測器與訊號放大器.........................10
2.2 軟體應用.....................................10
三、 系統模型.....................................11
3.1 系統模型.....................................11
3.2 接觸力量控制系統.............................13
四、 系統參數鑑別.................................15
4.1 開迴路系統參數鑑別...........................15
4.2 荷重計校準(calibration)......................19
4.3 軟性邊界之彈性係數量測.......................20
五、 控制器設計...................................21
5.1 接觸力控制命令與接觸力之系統.................21
5.2 接觸表面與接觸力之系統.......................22
5.3 控制器設計原則...............................23
5.3.1 控制器設計原則..............................23
5.3.2 控制器設計原則..............................28
5.3.3 控制器之輸出飽合限制.........................28
5.3.4 控制器設計...................................28
5.4 系統之軟體模擬...............................31
5.4.1 接觸表面位置無變動之情形.....................31
5.4.2 接觸表面位置有變動之情形.....................34
六、 實驗與結果...................................49
6.1 接觸表面位置無變動之實驗.....................49
6.2 接觸表面位置變動之實驗.......................57
七、 結論與建議...................................61
參考文獻..............................................62
自傳..................................................63

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