臺灣博碩士論文加值系統

在精密運動控制中，由於PID控制法則無法有效地對摩擦力、齒背隙與磁滯現象等非線性現象所造成之運動控制誤差進行即時補償；而學習控制雖有良好的控制效果，但需耗費龐大的軟硬體計算資源，且在系統參數變異之狀態下，其暫態控制誤差亦過大，再加上摩擦力、齒背隙與磁滯現象會隨著應用環境變化而改變。綜合上述，本研究應用具備強健性之順滑模態控制理論來驅動伺服平台，由於順滑模態控制對於非線性系統之控制具有優異的性能，所以可以克服因摩擦力、齒隙與磁滯現象等所造成的非線性運動誤差；本研究之實驗應用工研院研發之高性能DSP運動控制卡來實現控制法則。
因順滑模態控制會產生切跳現象，易引發高頻共振；為避免切跳現象之發生，導入順滑層理論來改善切跳現象。雖然順滑層理論的導入可以改善切跳現象，但也會使控制誤差變大，使得控制誤差與切跳現象產生衝突點。為了達到最小控制誤差及避免切跳現象之發生，需取得順滑模態參數的最佳值；順滑模態參數分別為：系統頻寬、順滑層厚度、收斂係數，傳統上是以試誤法來取得最佳值；經由研究得知，系統頻寬參數對於降低控制誤差及切跳現象之發生最為敏感。因此本研究探討在選取順滑層厚度與收斂係數之估測值條件下，設計系統頻寬參數自動調整法則，使控制系統在不發生切跳現象之狀態下，達到最大系統頻寬與最小控制誤差之目的；並經由實驗驗證此自動調整法則的有效性。

For precision motion control systems, PID control algorithm cannot effectively compensate the control errors resulted from the non-linear phenomena such as friction, backlash, and hysteresis. On the other way, learning control algorithm may have better performance but it requires huge hardware and software resources. Furthermore, it still has excessive errors around transient situation as system parameters change. In addition, the nonlinear phenomenon of friction, backlash, and hysteresis will vary under different application environments. Hence, in this research, a robust sliding mode control algorithm is developed for a single-axis motion control system by using the DSP motion control board. As a result, the developed sliding mode control algorithm can effectively reduce the control errors due to the friction, backlash, and hysteresis.
For sliding mode control algorithms, the chattering phenomenon will result in the high-frequent resonance. In this research, a sliding layer is used to improve the chattering problems. However, the sliding layer will reduce the control accuracy and increase motion errors as well. In order to improve the control accuracy and avoid the chattering at the same time, it is necessary to obtain the optimum values of control parameters, which are the system bandwidth, the thickness of sliding layer, and the convergence parameter. Traditionally, it is not straightforward to obtain the optimum values of these control parameters. In this research, it has been shown that the control errors and chattering are very sensitive to the system bandwidth. Hence, an auto-tuning algorithm for the system bandwidth under the conditions of fixed sliding layer thickness and convergence parameter are established. Consequently, the closed-loop system has maximum bandwidth and minimum control errors without chattering. The results have been verified by experimental works.

摘要 i
英文摘要 ii
目次 iii
表目錄 v
圖目錄 vi
第一章 緒 論 1
1.1 前言 1
1.2 研究目的 2
1.3 文獻回顧 3
1.4 研究方法 5
1.5 內容大綱 6
第二章 順滑模態之理論架構 7
2.1 順滑模態控制理論 7
2.2 等效控制 9
2.3 迫近條件與順滑條件 11
第三章 順滑模態控制於伺服運動控制系統之應用 17
3.1 單軸伺服運動控制系統模型 17
3.2 順滑模態控制器設計 19
3.3 電腦數值模擬 22
3.3.1 PID控制數值模擬結果 24
3.3.2 順滑模態控制模擬結果 28
3.4 順滑模態系統參數自動調整法則 32
3.4.1 順滑模態系統參數停止調整條件 35

第四章 實驗架構與結果 36
4.1 實驗架構 36
4.1.1 DSP 六軸運動控制卡PMC32-6000 37
4.1.2 伺服控制平台 39
4.2 PID運動控制實驗結果 40
4.3 順滑模態控制實驗結果 43
4.3.1 順滑模態參數選取 43
4.3.2 順滑模態控制參數調整 46
4.4 具參數自動調整法則之順滑模態控制系統實驗結果 54
第五章 結論與未來工作建議 62
5-1 結論 62
5-2 未來工作建議 63
參考文獻 64

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