臺灣博碩士論文加值系統

本論文針對一動力源為直流伺服馬達之系統，在其輸出與環境接觸的情況下，利用函數近似法(Function Approximation Technique)近似不確定項，設計出一適應阻抗控制器，以解決傳統阻抗控制器必須獲得系統精確的模型，且系統之未知參數必須是非時變的，及需使用力感測器迴授接觸力等限制。為確保系統穩定度並選取估測器的更新率(Update Law)，我們引用了Lyapunov分析法來進行導證。最終，此法將實際應用於一直流伺服馬達驅動之繪圖機系統，並獲得預期之效能。

Several adaptive impedance controllers are proposed in this thesis based on the function approximation technique for a DC servo motor interacting with the environment. Stable compliant motion can be achieved without the need for the force feedback in the new strategy. Uncertainties in the plant parameters can also be tolerated. The closed loop stability is proved by using the Lyapunov-like technique. Experimental studies justify the feasibility of the proposed controllers.

中文摘要
英文摘要
誌謝
目錄
圖表索引

第一章 緒論
第二章 控制器設計
2.1 系統參數及外力皆已知之阻抗控制器
2.2 當外力為未知時之適應阻抗控制器
2.3 當外力與系統參數皆未知時之適應阻抗控制器
2.4 當外力與系統參數為時變時之適應阻抗控制器
第三章 實驗設備與實驗結果
3.1 實驗架構
3.2 實驗結果
第四章 結論
參考文獻

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