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研究生:林天俊
研究生(外文):Tian-Jiun Lin
論文名稱:模糊積分型式滑動控制器應用於壓電致動平台之研究
論文名稱(外文):A Study on a Piezo Actuated Motion Stage Using Fuzzy Integral Sliding Mode Controller
指導教授:鄭銘揚鄭銘揚引用關係
指導教授(外文):Ming-Yang Cheng
學位類別:碩士
校院名稱:國立成功大學
系所名稱:電機工程學系碩博士班
學門:工程學門
學類:電資工程學類
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:103
中文關鍵詞:壓電致動器模糊積分型滑動控制器磁滯效應
外文關鍵詞:Piezoelectric ActuatorFuzzy Integral Sliding-Mode controllerHysteresis
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壓電致動器(Piezoelectric actuator,簡稱PEA)擁有高精度、質量輕、響應快、無背隙作用的優點,所以適用於精密定位。本論文主要之研究目標為壓電致動器的控制方法,實現一高精度、暫態響應快且穩定之壓電致動定位平台。然而壓電致動器具有高度非線性磁滯效應(Hysteresis),另一方面滑動控制器(Sliding Mode Controller,簡稱SMC)對於非線性元件或具有高擾動力的受控體擁有強健性,因此本論文發展以滑動控制為基礎理論的模糊積分型滑動控制器(Fuzzy Integral Sliding Mode Controller,簡稱FISMC)。藉由在切換函數中加入積分器改善一般使用飽和層的滑動控制器效能不佳的情形;並使用模糊控制器增加控制系統的強健性。由步階定位與光纖對位之實驗,結果顯示FISMC具有迅速、超越量小的定位效果。另外本論文透過循跡控制實驗測試FISMC的控制精準度。
Piezoelectric actuators are suitable for accurate positioning due to their high precision, light weight, fast response, and backlash-freeness. Since piezoelectric actuators possess high nonlinear hysteresis, the related control issues are investigated, and the control strategy using a fuzzy integral sliding-mode controller (FISMC) is established. By adding an integrator to the switching function, we can overcome the performance deficiency caused by the use of the saturation layer in conventional sliding-mode controller. In additions, the use of the fuzzy controller makes the control system much more robust to hysteresis effect and external disturbances. Finally, from the experimental result of step positioning and optical fiber alignmentshow that FISMC can achieve fast and small-overshoot. Moreover, the control accuracy of the FISMC can also be evaluated from the experiment of contour-tracking control.
目 錄
中文摘要............................………………………………I
英文摘要........................……………………………….…II
誌謝.......................................................Ⅲ
目錄.........................………………………………………IV
表目錄................................………………………………VII
圖目錄........................…………………….……...……….VIII

第一章 緒論...........................……………………………1
1-1 研究背景………………...........………………………….1
1-2 文獻回顧…………………..........…………………….….1
1-3 研究動機與目的….……..........……………….........3
1-4 論文架構………………..........…………………………..4

第二章 壓電致動器介紹…………..........………………………….5
2-1 壓電效應…………….…..........…………………..…….5
2-2 潛變效應…………………..........…………………………7
2-3 磁滯現象和建模………..........…………….…………...8
2-3-1 磁滯現象…………………..........……………………………8
2-3-2 磁滯建模…………………...........………………………..13
2-4 壓電驅動器……………..........………………………...15
2-4-1 電流源驅動………….…..........…………………………15
2-4-2 電壓源驅動…….………..........…………………………15
2-5 改良式Preisach之非對稱磁滯模型………..........…...18
2-5-1 Preisach模型之描述…….………………..........………18
2-5-2 改良式Preisach模型之描.………………..........………18
2-5-3 實驗建模………….……………………..........…………21

第三章 模糊積分型滑動控制器之設計…………......……………..29
3-1 可變結構滑動控制理論…………………………….........29
3-1-1 可變結構的滑動模式……………………….......…………30
3-1-2 應用滑動控制於軌跡追蹤…………….……......…………33
3-1-3 探討飽和層帶給滑動控制系統的影響.………………......38
3-2 積分型式滑動控制加入模糊邏輯控制器………….........40
3-2-1 模糊邏輯控制器簡介………………………………….......40
3-2-2 積分型滑動控制器如何加入模糊邏輯控制器之介紹.......44
3-2-2-1 模糊邏輯控制器之設計程序……………………...........45
3-2-2-2 模糊積分型滑動控制系統架構…………………...........50

第四章 實驗結果 …………………………………………….......…51
4-1 實驗軟硬體設備概述……………………….………........51
4-2 壓電平台步階定位實驗……………………….………......58
4-3 光纖對位實驗……………………………………….........66
4-4 壓電平台軌跡追蹤實驗……………………….………......72
4-4-1 參考命令為不同頻率弦波之實驗……….…………........72
4-4-2 參考命令為連續不同振幅的弦波之實驗….…………......86
4-4-3 結合FISMC與改良型Preisach前饋補償之軌跡追蹤實驗....94

第五章 結論與建議……………………………...…………….………97
5-1 結論……………………………………………………….....97
5-2 未來研究方向與建議………………………………………...97


參考文獻…………………………………………………...……………99
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