臺灣博碩士論文加值系統

本文主要針對壓電致動刀具提出主動式減振控制器。切削力(cutting force)直接激發刀具和工件的振動，是造成加工誤差和降低精度的主因之一。
欲使壓電致動刀具的進刀循預設路徑，儘量不受切削力作用之影響，可將切削力視為車刀的外部干擾，控制器以干擾觀測器來抑制切削力。因此本文所提出的控制架構包括：遲滯補償、干擾抑制、追蹤控制和切削力的抑制。並和其他學者提出的控制方法進行比較，以模擬與實驗設備驗證控制器的性能。實驗時，壓電致動刀具為實際硬體，工件和切削力則為軟體依模式公式模擬產生。在定位和追蹤控制的實驗結果，有較佳的切削力和低頻外部干擾的抑制能力。
本文於最後探討Merritt[30]所提出的工具機自激顫振理論(Theory of self-excited machine-tool chatter)，將計算後之數據所描繪出的曲線，說明切削系統的穩定關係。

This thesis is aim at piezo-actuated tool holders, propose that the active vibration control system. The vibration generated cause cutting force affects the relative position between the cutting tool and work piece, which is considered as a main factor of causing errors in machining.
Desire that piezo-actuated tool holders feed expectably, which is endeavored to not affected by the cutting force. The cutting force can assumes that disturbance, which have suppressed by disturbance observer. Therefore, the control system which is proposed of this thesis consists components of hysteresis compensation, disturbance suppression, tracking controller and cutting force suppression. The performance of the proposed control system will be evaluated by comparing with other control system through simulations and hardware implementation. When hardware implementation, piezo-actuated tool holder is real hardware, work piece and cutting force are simulated by formula. In positioning and tracking control experimental results, the control system which is proposed of this thesis have higher suppression performance for cutting force and low-frequency disturbance.
Finally, in this study, investigate the “Theory of self-excited machine-tool chatter” was proposed by Merritt[30], the data after computed can obtain the borderline of stability, which illustrate stability of the machine-tool.

目錄
致謝 i
中文摘要 ii
Abstract iii
目錄 iv
圖目錄 vi
第一章 緒論 1
1.1 前言 1
1.2 文獻回顧 2
1.3 研究動機 4
第二章 車削過程之主動式減振控制模式 6
2.1壓電致動刀具的車削模式 6
2.2切削力模式 7
第三章 主動式減振車刀測試平台 9
3.1車刀測試平台架構 9
3.2測試平台及車削模式離散化及實現 11
3.2.1車刀測試平台離散化及實現 11
3.2.2模擬之工件模式離散化及實現 12
3.3 主動式減振控制系統 14
3.3.1 ZPETC和干擾觀測器控制架構 16
3.3.2 遲滯模式補償控制架構 20
3.4 減振性能的測試比較 22
3.5 模擬測試結果 23
第四章 實驗結果 26
4.1實驗架構 26
4.2實驗結果 27
4.2.1定位控制實驗 27
4.2.2追蹤控制實驗 36
第五章 結論 42
5.1 未來研究方向 43
參考文獻 44
附錄 48

[1] 黃建立、陳孝武、黃嘉全、黃恆庭，“壓電驅動微動平台狀態估測器之設計”，第十二屆全國自動化科技研討會，國立虎尾技術學院，4301D-6，2001。
[2] P. Ge and M. Jouaneh, “Tracking control of a piezoceramic actuator”, IEEE Transactions on Control Systems Technology, vol. 4, no. 1, pp. 209-216, 1996.
[3] B. M. Chen, T. H. Lee, C. C. Hang, Y. Guo and S. Weerasooriya, “An almost disturbance decoupling robust controller design for a piezoceramic bimorph actuator with hysteresis”, IEEE Transactions on Control Systems Technology, vol. 7, no. 2, pp. 160-173, 1999.
[4] 黃恆庭，壓電致動器遲滯模型之觀測器，逢甲大學自動控制工程學系，碩士論文，2001。
[5] 陳皆福，應用干擾觀測器和遲滯模式於壓電致動器的追蹤控制，逢甲大學自動控制工程學系，碩士論文，2003。
[6] T. Umeno and Y. Hori, “Robust Speed Control of DC Servomotors Using Modern Two Degrees-of-Freedom Controller Design”, IEEE Transactions on Industrial Electronics, vol. 38, No. 5, pp. 363-368, 1991.
[7] M. Tomizuka, “Zero phase error tracking algorithm for digital control”, ASME J. Dynamic Systems, Measurement, and Control, vol. 109, pp. 65-68, 1987.
[8] K. Ohnishi, “A new servo method in mechatronics”, Trans. Jpn. Soc. Elect. Eng., vol. 107-D, pp. 83-86, 1987.
[9] H. S. Lee and M. Tomizuka, “Robust motion controller design for high-accuracy positioning system”, IEEE Transactions on Industrial Electronics, vol. 43, No. 1, pp. 48-45, 1996.
[10] J. D. Kim, D. S. Kim, “Waviness compensation of precision machining by piezoelectric micro cutting device”, International Journal of Machine Tools & Manufacture, vol. 38, pp. 1305-1322, 1998.
[11] A. T. Elfizy and G. M. Bone, “Model-based controller design for machine tool direct feed drives”, International Journal of Machine Tools & Manufacture, vol. 44, pp. 465-477, 2004.
[12] G. Pan and H. Xu, “Modeling and intelligent chatter control strategies for a lathe machine”, Control Engineering Practice, vol. 4, No. 12, pp. 1647-1658, 1996.
[13] J. L. Dohner, J. P. Lauffer, T. D. Hinnerichs, N. Shankar, M. Regelbrugge, C. M. Kwan, R. Xu, B. Winterbauer, K. Bridger, “Mitigation of chatter instabilities in milling by active structural control”, Journal of Sound and Vibration, vol. 269, pp. 197-211, 2004.
[14] E. E. Mitchell and E. Harrison, “Design of a hardware observer for active machine tool control”, Journal of Dynamic Systems, Measurement, and Control, ASME, vol. 99, pp. 227-232, 1977.
[15] B. A. Frankpitt, A model of the dynamics of a lathe toolpost that incorporates active vibration suppression , Technical Report, Institute for System Research, University of Maryland, College Park, 1995.
[16] Z. Eshete, In process machine tool vibration cancellation using electrostrictive actuators, Ph.D. dissertation, Institute for System Research, University of Maryland, College Park, 1996.
[17] D. Liu, J. W. Sutherland, “Surface texture improvement in the turning process via application of a magnetostrictively actuated tool holder”, ASME Journal of Dynamic Systems, Measurement, and Control, vol. 120, pp. 193-199, 1998.
[18] S. K. Choudhury, N. N. Goudimenko and V. A. Kudinov, “On-line control of machine tool vibration in turning”, International Journal of Machine Tools & Manufacture, vol. 37, No. 6, pp. 801-811, 1997.
[19] W. H. Zhu, M. B. Jun and Y. Altintas, “A fast tool servo design for precision turning of shafts on conventional CNC lathes”, International Journal of Machine Tools & Manufacture, vol. 41, pp. 953-965, 2001.
[20] L. Claesson and L. Hakansson, “Adaptive active control of machine-tool vibration in a lathe”, IJAV-International Journal of Acoustics and Vibration,3(4), 1998. Invited.
[21] J. Pan and C. Y. Su, “Chatter suppression with adaptive control in turning metal via application of piezoactuator”, IEEE Conference on Decision and Control, Orlando, Florida, 2001.
[22] J. Wang, C. Y. Su and M. Oya, “Theoretic modeling and adaptive control for two degree-of-freedom piezo-electric actuated suppression system”, IEEE Conference on Decision and Control, Maui, 2003.
[23] 孟尚賢，銑削顫振之控制-主軸轉速調整方法之研究，國立台灣大學機械工程學研究所，碩士論文，2001。
[24] 謝祥永，切削顫振之順滑模式及遠端監控之研究，中原大學機械工程研究所，碩士論文，2003。
[25] 黃俊翰，車床定力切削的智慧型控制，國立台北科技大學車輛工程系碩士班，碩士論文，2003。
[26] 江浩寧，壓電致動刀具載台之設計分析及其在類銑削加工上之應用，國立成功大學機械工程學系碩士班，碩士論文，2003。
[27] 潘冠衛，振動加工應用於高速微銑削之研究，雲林科技大學機械工程系碩士班，碩士論文，2003。
[28] 張君勵，主動式振動壓抑於車削之應用，國立台灣科技大學機械工程研究所，碩士論文，1995。
[29] 李恩程，主動與被動式振動控制於CNC車床之研究，國立台灣科技大學機械工程研究所，碩士論文，1996。
[30] H. E. Merritt,“Theory of self-excited machine-tool chatter”, Journal of Engineering for Industry, pp. 447-454, November 1965.
[31] Charles, L. Phillips and H. Troy Nagle, “Digital Control System Analysis and Design”, 儒林圖書有限公司, 1994.
[32] 黃嘉全， “含磁滯致動器微動平台之增益規劃控制”，逢甲大學自動控制工程學系，碩士論文，2001。
[33]謝伯岳，“壓電微定位器追蹤控制的強健遲滯補償”，逢甲大學自動控制工程學系，碩士論文，2005。