(3.238.99.243) 您好!臺灣時間:2021/05/15 19:46
字體大小: 字級放大   字級縮小   預設字形  
回查詢結果

詳目顯示:::

: 
twitterline
研究生:鄭志先
研究生(外文):Chih-Hsien Cheng
論文名稱:電伏式液壓系統追誤差軌跡控制
論文名稱(外文):Tracking Control of Electro-Hydraulic System
指導教授:陳信宏陳信宏引用關係陳正義陳正義引用關係
指導教授(外文):Shinn-Horng ChenCheng-Yi Chen
學位類別:碩士
校院名稱:國立高雄應用科技大學
系所名稱:機械與精密工程研究所
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:2009
畢業學年度:97
語文別:中文
論文頁數:69
中文關鍵詞:奇異擾動液壓伺服系統定位控制追誤差軌跡容積係數
外文關鍵詞:Singular PerturbationHydraulic Servo SystemPosition ControlTracking ErrorBulk Modulus
相關次數:
  • 被引用被引用:0
  • 點閱點閱:647
  • 評分評分:
  • 下載下載:10
  • 收藏至我的研究室書目清單書目收藏:0
此篇論文主要是探討電伏式油壓缸並加入考慮摩擦力問題,將此一極度非線性之系統利用singular perturbation數學理論為主,Tikhonov理論為輔。在此相輔相承之下將油壓缸系統轉為perturbation系統做分析。而後利用此理論設計控制器設定控制器參數並做模擬測試。運用此方法將可克服多次微分的艱難問題並可得到以下四個優點:1. 追尋誤差軌跡將得到較小的誤差, 2. 將油壓缸流體容積係數的變化參數做強健, 3. 不需要用到活塞加速度的回授, 4. 不需要用到油壓缸的壓力氣室的微分。最後將此設計好的油壓缸系統以Lyapunov定理穩定分析做探討,確認我們所設計出來的控制器在套用之後依然使系統成為穩定狀態。
This thesis presents the derivation, and simulation of a nonlinear tracking control for an electro-hydraulic system, as these devises must often follow prescribed motions. An analysis of nonlinear system equation is used in the derivation of a singular perturbed function that provides for exponentially stable force trajectory tracking. This control law is extended to provide position tracking, and employed hydraulic fluid bulk modulus a difficult to characterize quantity as a parameter. To overcome the difficulty, we have developed a controller design procedure that required no additional sensors, and is robust to variations in the bulk modulus. A dual approach of singular perturbation theory and Lyapunov techniques from the basis for the procedure. The simulation results show that the proposed derivation singular perturbed function and controller design will track a given smooth trajectory with small error.
中文摘要.........................................................................................................................Ⅰ
英文摘要.........................................................................................................................Ⅱ
誌謝.................................................................................................................................III
目錄.................................................................................................................................IV
圖目錄.............................................................................................................................Ⅵ

第一章 緒論...................................................................................................................1
1.1 前言....................................................................................................................1
1.2 研究動機與目的................................................................................................3
1.3 文獻回顧............................................................................................................4
1.4 論文架構............................................................................................................9

第二章 液壓系統之模型建立.....................................................................................11
2.1 液壓伺服系統之模型建立..............................................................................14
2.2 系統建模與實際實驗結果之比較..................................................................24

第三章 奇異擾動系統.................................................................................................26

第四章 控制器設計.....................................................................................................29
4.1 奇異擾動理論設計控制器.............................................................................31
4.2 控制器模擬結果與討論.................................................................................37

第五章 結論.................................................................................................................50
5.1 結論.................................................................................................................50
5.2 未來展望.........................................................................................................52
參考文獻.........................................................................................................53
附錄.................................................................................................................61
[1]Canudas de Wit, C., Olsson, H., Astrom, K. J., and Lischinsky, P., Mar. 1995, “A new model for control of system with friction.”, IEEE Trans. Automat. Contr., Vol. 40, pp. 419-425.
[2]Kokotovic, P. V., Khalil, H. K., eds., 1986, “Singular Perturbations in Systems and Control”, IEEE Press, New York, NY.
[3]Kokotovic, P. V., Khalil, H. K., Reilly, J. O., 1986, “Singular Perturbations Methods in Control: Analysis and Design”, Academic Press, New York, NY.
[4]Kokotovic, P. V., 1989, “Applications of singular perturbation techniques to control problems.”, SIAM Rev., 26, No. 4, pp. 501-550.
[5]Pan, S. T., Teng, C. C., 1996, “Dynamic Output Feedback Control of Nonlinear Singularly Pertubed Systems”, J. Franklin Inst. Vol. 333B, No. 6, pp. 947-973.
[6]Kim, E. S., Sept., 1996, “Nonlinear indirect adaptive control of a quarter car active suspension.”, Proceedings of the 1996 Conference on Control Applications, Dearborn, MI, pp. 61-66.
[7]Allenyne, Andrew, 1996, “Nonlinear force control of an electro-hydraulic actuator.”, Japan-USA symposium on Flexible Automation Boston, MA, June American Society of Mechanical Engineers, pp. 193-200.
[8]Hahn, H., Piepenbrink, A., Leimbach, K. -D., Aug, 1994, “Input/output linearization control of an electro servo- hydraulic actuator.”, Proceedings of the 1994 Conference on Control Applications, Glasgow, UK, pp. 995-1000.
[9]Sohl, G. A., Bobrow, J. E., 1999, “Experiments and simulations on the nonlinear control of a hydraulic servosystem.”, IEEE Trans. Control Syst. Technol., 7, No. 2, pp. 238-247.
[10]Alleyne, Andrew, Karl, H. J., June, 1992, “Nonlinear control of a quarter car active suspension.”, Proceedings of the 1992 American Control Conference, Chicago, IL, pp. 21-25.
[11]Alleyne, Andrew, Karl, H. J., 1995, “Nonlinear adaptive control of active suspension.”, IEEE Trans. Control Syst. Technol., 3, No. 1, pp. 94-101.
[12]Park, H. J., Cho, H. S., Hyun, B. S., June, 1989, “An adaptive control of nonlinear time-varying hydraulic servo systems.”, Proceedings of the 1989 American Control Conference, Pittsburgh, PA, pp. 1894-1898.
[13]Khalil, Hassan, K., 1950-Upper, “Nonlinear Systems”, Prentice Hall, Saddle River, N.J.
[14]Sun, H., Chiu, G. T. -C, 2000, “Equalization of Multi-Cylinder Electro-Hydraulic System”, Proceedings of the American Control Conference, Chicago, pp. 4134-4138.
[15]Fitch, E. C., Hong, I. T., 1976, “Hydraulic Component Design and Selection”, BarDyne, Oklahoma.
[16]Brian, A. H., 1991, “Control of Machines with Friction”, Kluwer Academic, Boston-Dordrecht-London.
[17]Merritt, H. E., 1976, “Hydraulic Control Systems”, John Wiley & Sons, New York-London-Sydney.
[18]Munson, B. R., Young, D. F., Okiishi, T. H., 1994, “Fundamentals of Fluid Mechanics”, John Wiley & Sons, New York - Chichester - Brisbane - Toronto - Singapore.
[19]Eryilmaz, Bora, Wilson, B. H., Nov., 1999, “A unified model of a proportional valve.”, Sanjay I. Mistry and Tim McLain, eds, Proceedings of the ASME Fluid Power Systems and Technology Division, ASME IMECE Congress, Nashville, TN, Vol. FPST-Vol. 6, pp. 95-102.
[20]Merritt, H. E., 1967, “Hydraulic Control System”, Wiley, New York, NY.
[21]Chen, C. Y., Cheng, C. C., Chiu, G. T. -C., 2000, “Adaptive robust control of media advance systems for thermal inkjet printers.”, Mechatronics, pp. 111-126.
[22]Chen, C. Y., Liu, L. Q., Cheng, C. C., Chiu, G. T. -C., Aug., 2007, “Fuzzy controller design for synchronous motion in a dual-cylinder electro-hydraulic system.”, Control Engineering Practice, Vol. 16, pp. 658-673.
[23]Lin, C. L., Chen, C. H., Liu, V. T., Hwang, T. S., May., 2004, “A New Time-Delay Compensation Scheme for Hydraulic Systems”, IEEE Industrial Electronics, Vol. 1, pp. 639-644.
[24]劉立強,2002 ,“不平衡雙液壓缸系統之同步運動控制”,碩士論文,國立中山大學。
[25]呂國政,2006 ,“油壓伺服系統的遠端控制與實現”,碩士論文,正修科技大學。
[26]Chen, C. Y., July, 2007, “Synchronous motion of two-cylinder electrohydraulic system with unbalanced loading and uncertainties.”, Journal of Systems and Control Engineering, Vol. 221, No. 7, pp. 937-955.
[27]McCLOY D., Matrin H. R., 1980, “Control of Fluid Power Analysis and Design“, Ellis Horwood Limiter, New York-Chichester-Brisbane-Toronto.
[28]Stewart, H. L., 1984, “Pneumatics and Hydraulics”, The Bobbs-Merrill Company, Indianapolis/New York.
[29]Wang, W., Pan. S., Wang, F., 2004, “A Comparison Study of Two Disturbance Rejection Control Strategies for Hydraulic Position Servo Systems”, Annual Conference of IEEE Industrial Eelctronics Society, Vol. 3, pp. 1993-1996.
[30]Six, K., Lasky, T. A., Ravani, B., 2001, “A Time-Delayed dynamic inversion scheme for mechatronic control of hydraulic systems.”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Vol. 2, pp. 1232-1238.
[31]Sun, H., Chiu, G. T. -C., 2001, “Motion synchronization for multi-cylinder electro-hydraulic system.”, ASME International Mechanical Engineering Congress and Exposition, Proceedings, Vol. 2, pp. 1479-1489.
[32]Owen, W. S., Croft, E. A., McFarlane, J. R., 2001, “Reducing stick-slip friction in hydraulic actuators.”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, Vol. 1, pp. 642-647.
[33]Olsson, H., Astrom, K. J., De Wit, C. C., Gafvert, M., Lischinsky, P., 1998, “Friction models and friction compensation.”, European Journal of Control, Vol. 4, No. 3, pp. 176-195.
[34]Hessburg, T. M., Krantz, D. G., 1997, “Feedforward control (based on model inversion) and system performance prediction using high-fidelity nonlinear dynamic hydraulic system modeling.”, IEEE Conference on Control Applications - Proceedings, pp. 57-62.
[35]Torsten, W., Markus, L., 1998, “Flatness Based Control for Hydraulic Drives”, SACTA, Vol. 1, No. 1, pp. 22-40.
[36]Yao, B., Liu, S., 2002, “Energy-saving control of hydraulic systems with novel programmable valves.”, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), Vol. 4, pp. 3219-3223.
[37]Chen, C. Y., Aug., 2008, “Hybrid Controller Design for a Mechanical Transmission System with Variable Compliance and Uncertainties”, International Journal of Innovative Computing, Information and Control, Vol. 4 pp. 1-17.
[38]Zheng, D., Alleyne, A., Feb., 2003, “Modeling and control of an electro-hydraulic injection molding machine with smoothed fill-to-pack transition.”, Journal of Manufacturing Science and Engineering, Transactions of the ASME, Vol. 125, No. 1, pp. 154-163.
[39]Duraiswamy, S., Chiu, G. T. -C., 2003, “Nonlinear Adaptive Nonsmooth Dynamic Surface Control of Electro-Hydraulic Systems”, Proceedings of the American Control Conference, Vol. 4, pp. 3287-3292.
[40]He, Y. B., Chua, P. S. K., Lim, G. H., Jan., 2003, “Performance analysis of a two-stage electrohydraulic servovalve in centrifugal force field.”, Journal of Fluids Engineering, Transactions of the ASME, Vol. 125, No. 1, pp. 166-170.
[41]Hung, H. T., Kwan, A. K., 2008, “A study on the position control of hydraulic cylinder driven by hydraulic transformer using disturbance observer.”, 2008 International Conference on Control, Automation and Systems, ICCAS 2008, pp. 2634-2639.
[42]Truong, D. Q., Kwan, A. K., Yoon, J. I. I., 2008, “A study on force control of electric-hydraulic load simulator using an online tuning quantitative feedback theory.”, 2008 International Conference on Control, Automation and Systems, ICCAS 2008, pp. 2622-2627.
[43]Xiao, J. L., Song, W. K., Wang, G. D., Hong, Y., Feb., 2009, “Mathematical modeling and simulation of electro-hydraulic synchronous control system of ring gate for hydraulic turbine.”, Tianjin Daxue Xuebao (Ziran Kexue yu Gongcheng Jishu Ban)/Journal of Tianjin University Science and Technology, Vol. 42, No. 2, pp. 105-112.
[44]Miao, Z. H., Wang, X. Y., Liu, C. L., Tao, J. F., July, 2008, “The trajectory tracking of hydraulic servo system via sliding mode variablee structure control in very low velocity.”, Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University, Vol. 42, No. 7, pp. 1182-1186.
[45]Quan, L., Xu, X., Li, M., Zhang, Z., Wang, J., Sep., 2008, “Simulation and test of electro-hydraulic servo position and pressure hybrid control principle.”, Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering, Vol. 44, No. 9, pp. 100-105.
[46]Sepehri, N., Wu, G., 1998, “Experimental evaluation of generalized predictive control applied to a hydraulic actuator.”, Robotica, Vol. 16, No. 4, pp. 463-474.
[47]Ferreira, J. A., Sun, P., Grácio, J. J., 2007, “Design and control of a hydraulic press.”, Proceedings of the 2006 IEEE Conference on Computer Aided Control Systems Design, CACSD, pp. 814-819.
[48]Zeng, H., Sepehri, N., Mar., 2007, “On tracking control of cooperative hydraulic manipulators.”, International Journal of Control, Vol. 80, No. 3, pp. 454-469.
[49]Dietz, U. E., Prochnio, E. M., 1985, “NONLINEAR CONCEPTS FOR THE CONTROL OF HYDRAULIC SYSTEMS”, Systems Science, Vol. 11, No. 3-4, pp. 113-123.
[50]Valérie, P. B., Lanusse, P., Sabatier, J., Oustaloup, A., 2006, “Fractional robust control of a nonlinear plant: Control of a nonlinear testing bench using the singular perturbation technique and the CRONE approach.”, Journal Europeen des Systemes Automatises, Vol. 40, No. 2, pp. 211-231.
[51]徐英峰,2001,“可變撓性傳動系統之控制器設計”,碩士論文,國立中山大學。
[52]曾偉誠,2001,“反覆式學習控制於液壓缸位置控制系統之研究”,碩士論文,大葉大學。
[53]陳柏褀,2003,“超高速伺服油壓系統與元件響應時間之研究”,碩士論文,中原大學。
[54]張碩,2006,“自動控制系統”,鼎茂圖書出版股份有限公司。
[55]洪維恩,2005,“Matlab7 程式設計”,旗標出版股份有限公司。
[56]陳正義,劉立強,2005 ,“DOS-like嵌入式控制器程式設計與實務”,全華科技圖書股份有限公司。
[57]陳正義,何坤鑫,程啟正,2002 ,“Visual Basic程式設計與圖形監控應用”,滄海書局。
[58]李駒光,許永和,2004, “ARM7-S3C4510B為架構之嵌入式系統設計與應用“,長高科技圖書。
[59]Sayers, A. T., 1946, “Hydraulic and compressible flow turbomachines.”, : McGraw-Hill, London, New York.
[60]Viersma, T. J, 1980, “Analysis, synthesis, and design of hydraulic servosystems and pipelines.”, Elsevier Scientific Pub. Co., New York.
[61]Kwak, B. J., 2000, “Nonlinear system identification with an application to hydraulic actuator friction dynamics.”, Dissertation Abstracts International, Volume: 61-03, Section: B, page: 1553.
QRCODE
 
 
 
 
 
                                                                                                                                                                                                                                                                                                                                                                                                               
第一頁 上一頁 下一頁 最後一頁 top