臺灣博碩士論文加值系統

本論文中主要探討速度拘束型運動系統之循跡控制。傳統等效法雖已解決以往多軸控制架構中，使用複雜或近似的輪廓誤差做控制設計上的困難，但對於我們提出的雙輪倒單穡捐屭t統卻無法應用，主要是因為系統動態中包含了速度限制條件，此為速度拘束型的運動系統。本文參考傳統等效誤差法，並以等效誤差理論做為基礎，對於拘束型運動系統提出廣義等效法建立其等效誤差模型，包括了等效輪廓誤差、切線誤差及新加入的速度誤差，也就是以狀態的角度建立系統的等效誤差模型，再以穩定誤差做為新的控制目標。利用等效誤差模型，將循跡問題轉換為穩定化的問題。針對驅動不足的速度拘束型系統，我們提出非線性控制中的滑動模式控制法則做設計，降低系統不確定量的影響。同時以直線與圓形軌跡做為例子，依據所提出的廣義等效法做座標轉換至誤差系統，結合滑動模式所設計之控制輸入以軟體做模擬分析。由我們所模擬的結果說明廣義等效法的概念是可行的，也可藉由改變控制參數使雙輪倒單穡捐屭t統在循各軌跡的過程中降低循跡誤差。

This thesis is concerned with the contouring control of a nonholonomic motion system. A novel method, called method of generalized equivalent errors, is proposed for the controller design of contouring controllers. It is an extension of the method of equivalent errors, previously proposed for the contouring control of unconstrained multi-axis motion system. The equivalent errors are composed of equivalent contour errors and tangential error based on the desired path in the space of generalized coordinates. For nonholonomic systems, a path described only by generalized coordinates may not satisfy the nonintegrable velocity constraints. Thus, the method of equivalent errors will fail. In this case, velocity errors are incorporated into the equivalent errors to form the generalized equivalent errors. The generalized equivalent errors are regarded as a set of new coordinates. It transforms the contouring control problem into a stabilization problem. Then the new control objective is stabilizing the errors. The sliding mode control method is employed to design controllers for this nonlinear and under-actuated system. The method of generalized equivalent errors is then applied to a nonholonomic system, the wheeled inverted pendulum system. The contouring of linear and circular paths are performed numerically to verify the analysis.

目錄

第一章 緒論 9
1.1 前言 9
1.2 研究動機與目的 9
1.3 文獻回顧 10
第二章 雙輪倒單穡捐屭t統 14
2.1 雙輪倒單穡捐屭t統架構 14
2.2 含速度形式之拘束條件下系統動態數學模型 17
第三章 傳統等效誤差法簡介 21
3.1 等效輪廓誤差與切線誤差 21
3.2 座標轉換與控制器設計 24
第四章 廣義等效誤差法 26
4.1 速度拘束型運動系統 26
4.2 等效輪廓誤差、速度誤差與切線誤差 28
4.3 誤差動態與控制器設計 32
第五章 數值模擬結果與討論 38
5.1 循直線軌跡 39
5.2 循菱形軌跡 47
5.3 循平行四邊形軌跡 49
5.4 循圓形軌跡 51
第六章 結論與未來方向 81
6.1 結論 81
6.2 未來方向 81
參考文獻 83
附錄 86

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