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研究生:廖明志
研究生(外文):Ming-Chi Liao
論文名稱:移動式撓性機械臂之建模與應變回授控制
論文名稱(外文):Modeling and Strain Feedback Control of a Flexible-Link Gantry Robot
指導教授:張振添張振添引用關係
指導教授(外文):Jenn-Tian Jang
學位類別:碩士
校院名稱:東南技術學院
系所名稱:機電整合研究所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2007
畢業學年度:95
語文別:中文
論文頁數:74
中文關鍵詞:撓性機械臂應變回授控制無窮乘積展開法比例微分控制
外文關鍵詞:strain feedback controlinfinite product representationflexible arm
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本研究旨在探討由扭矩模式(torque-mode)直流伺服馬達所直接驅動之移動式撓性機械臂系統的定位控制問題。首先考慮端點具負載的移動式撓性機械臂系統,設計一由移動機座位置誤差與撓性機械臂根部應變回授(strain feedback)所合成之比例微分與彎曲應變回授(PD+S)控制器,以達到移動機座之定位控制目的,並同時抑制撓性機械臂之彈性振動。而在應用無窮乘積展開法(infinite product expansions)下,可導出在PD+S控制器作用下,閉迴路控制系統具有漸進穩定性,且對負載參數變動具有強健性。而系統動態模擬也顯示,PD+S控制器不僅對移動機座具有快速之定位能力,並同時對撓性機械臂之彎曲彈性振動也有良好的抑制效果。
本研究更進一步探討若端點為一偏心負載,則撓性機械臂於運動過程中將同時出現彎曲與扭轉彈性振動。而為有效抑制扭轉彈性振動,本研究設計了由移動機座位置誤差與撓性臂根部彎曲應變(BS)與扭轉應變(TS)回授所合成之比例微分與彎曲及扭轉應變回授(PD+BSTS)控制器。而在應用無窮乘積展開法推導出無限維轉移函數後,在進行穩定性分析時,發現在扭轉應變回授控制下,閉迴路控制系統之穩定性分析相當困難,且可能出現不穩定現象。但若只考慮PD+S控制器作用下,仍可證得閉迴路控制系統具有漸進穩定性,且對負載參數變動具有強健性。而以上的理論分析結果,也在系統動態模擬中獲得了驗證。另外系統動態模擬也顯示,PD+BSTS控制器能達到比PD+S控制器更好的效果。
In this thesis, we consider the problem of motion control of a flexible-link gantry robot system driven by a torque-mode dc motor. A PD plus bending strain feedback (PD+S) controller is proposed to achieve the carriage-based position control while suppressing simultaneously the bending vibrations of the flexible beam. Using the infinite product representation of transcendental functions, the infinite-dimensional closed-loop transfer functions are obtained. This makes the theoretical analysis of the stability and robustness of the closed-loop system feasible. It is also shown that the PD+S control closed-loop system is asymptotically stable and robust to the variation of system parameters. Numerical simulation results are also provided to verify the effectiveness of the proposed approach.
Under the situation of practical applications, the bending vibrations of flexible link with an eccentric tip-payload will usually be accompanied by torsional vibrations. This leads the dynamic model and control of flexible-link robot to be more complicated. In this thesis, an infinite-dimensional dynamic model of the flexible-link gantry robot is derived first by using infinite product expansion. Then, a PD+BSTS controller consisted of the PD feedback of the moving-base position and bending and torsional strain feedback of the flexible arm is proposed to achieve the carriage-based position control while suppressing simultaneously the bending and torsional vibrations of the flexible link. Finally, the performance of the PD+BSTS feedback controller is also evaluated via dynamic simulations. We believe that the results of our research will contribute to the promotion of modern robotic technology.
中文摘要…………………………………………………………………… I
英文摘要………………………………………………………………… ii
誌謝……………………………………………………………………… iii
目錄………………………………………………………………………… iv
表目錄……………………………………………………………………… vi
圖目錄……………………………………………………………………… vii
符號說明…………………………………………………………………… ix
第一章 緒論……………………………………………………………… 1
1.1 研究動機…………………………………………………… 1
1.2 研究目的…………………………………………………… 1
1.3 文獻回顧…………………………………………………… 2
1.4 論文大綱…………………………………………………… 7
第二章 無窮乘積展開法與非有理轉移函數之穩定性………………… 8
2.1 無窮乘積展開法…………………………………………… 8
2.2 應用於撓性機械臂穩定性分析之無窮乘積展開法……… 10
2.3 非有理迴路轉移函數的穩定性性質……………………… 13
第三章 移動式撓性機械臂之強健性比例微分與應變回授控制……… 15
3.1 移動式撓性機械臂系統…………………………………… 15
3.2 系統動力學模式…………………………………………… 15
3.3 比例微分與應變回授控制器之設計……………………… 19
3.4 閉迴路控制系統的穩定性與強健性……………………… 22
3.5 系統動態模擬與討論……………………………………… 25
第四章 考慮彎曲與扭轉耦合振動下移動式撓性機械臂之控制……… 30
4.1考慮彎曲與扭轉耦合振動之移動式撓性機械臂系統……… 30
4.2 系統動力學模式…………………………………………… 31
4.3 比例微分與彎曲及扭轉應變回授控制器之設計………… 39
4.4 閉迴路控制系統的穩定性與強健性……………………… 42
4.5 系統動態模擬與討論……………………………………… 46
第五章 結論與建議……………………………………………………… 60
5.1 結論………………………………………………………… 60
5.2 未來研究與建議…………………………………………… 61
參考文獻…………………………………………………………………… 62
附錄A 基本無窮乘積展開法相關頻率………………………………… 68
附錄B 應用於偏心負載之無窮乘積展開式相關頻率………………… 71
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