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研究生:陳名豊
研究生(外文):Ming-Li Chen
論文名稱:爬升機構之設計與升降速度控制系統之研究
論文名稱(外文):A Study on Climbing Mechanism Design and Lifting Velocity Control System
指導教授:林聖泉林聖泉引用關係
學位類別:碩士
校院名稱:國立中興大學
系所名稱:生物產業機電工程學系所
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:2010
畢業學年度:98
語文別:中文
論文頁數:78
中文關鍵詞:爬升機構設計系統識別速度控制
外文關鍵詞:climbing mechanism designsystem identificationspeed control
相關次數:
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為能夠精確的量測公糧穀堆體積,需將量測儀器裝載在爬升機構,利用爬升機構升降功能搭配量測儀器收集穀堆外觀之空間座標點,進而換算體積完成公糧體積監控。升降設備須仰賴爬升機構,量測儀器大多貴重,爬升機構的穩定性與結構安全在量測穀堆時是相當重要。在市面上的升降機構高度、機動性、便利性,皆不符目前穀堆量測之需求,因此本研究設計一爬升機構符合量測時所需之條件,以利完成準確座標數據之收集,進而精密估算公糧穀堆之體積。
貴重的量測儀器安裝於升降機構上,在爬升運送過程中鋼索收捲時會產生升降速度不一致,導致量測儀器容易毀損與數據採集不準確的情形發生。因此本研究設計一控制策略,使鋼索收捲時能依目標速度做升降之動作。利用系統識別推估此爬升機構之運動模型,進而利用LabVIEW圖控軟體撰寫控制程式,以完成本研究。
此機構在速度控制策略下,裝載不同之負載,都能追逐著所設定之目標速度,平均速度誤差為0.0014 。應用系統識別推估其模型所得之結果是相當符合預期,此方法有助於複雜系統之模型推估。


In order to accurately measure the storage in the granary, the measuring instrument has to be in the position high above the top of packed paddy while in operation. Therefore, the measuring instrument needs to set on the platform, using climbing mechanism to carry it up. After the measuring instrument has collected the necessary spatial coordinates of the profile of packed paddy, the storage can be estimated. Since the instrument is expensive and delicate, the climbing mechanism has to carry the instrument more safely and more stably. In the market, the available climbing mechanisms do not fulfill our requirements in regard to lift, mobility and accommodation. Therefore, the first objective of this research is to design a climbing mechanism to meet the requirements for measurement. The measuring instrument with the climbing mechanism we had designed can efficiently collect coordinate data and precisely estimate the volume of packed paddy.
The velocity of lifting during carrying measuring instruments may cause some damage to the instrument. This may further lead to incorrect measurement. Therefore, the second objective of this study is to devise a velocity control strategy for this climbing mechanism. The speed of lifting cable can be maintained according to the setting speed in lifting operation. Using system identification methodology we had set up the motion model of this climbing mechanism, and then written a graphical program with LabVIEW software to control the lifting velocity.
According to the experimental results, applying the lifting speed control strategy with different carrying loads, the system could track the setting speed in an average error of 0.0014m/s. The results were quite satisfactory. This also showed the application of system identification on our model set up was appropriate. The system identification approach can be used in modeling a complex system such as our climbing mechanism.


摘要.......................................................I
英文摘要..................................................II
目錄.....................................................III
圖目錄.....................................................V
表目錄..................................................VIII
符號表....................................................IX
第一章 前 言...............................................1
1.1研究動機................................................1
1.2研究目的................................................1
第二章 文獻探討............................................3
2.1機構設計................................................3
2.2張力調整................................................3
2.3最佳化控制..............................................4
2.4 系統識別...............................................5
第三章 理論分析............................................7
3.1張力分析................................................7
3.2滾筒半徑分析...........................................10
3.3 系統識別..............................................12
3.3.1閉迴路系統參數識別...................................12
3.3.2特徵系統實現演算法...................................13
3.3.3驗證數學模型.........................................17
3.4 升降速度控制..........................................20
3.4.1控制策略.............................................21
第四章 爬升機構設計與分析.................................24
4.1機構設計概念...........................................24
4.2機構設計分析...........................................24
4.2.1伸縮架設計與分析.....................................26
4.2.2底盤設計與分析.......................................29
4.2.3支撐架設計與分析.....................................32
4.2.4滑輪組設計與分析.....................................35
4.2.5應變規的應用.........................................37
4.2.6惠斯登電橋...........................................38
第五章 實驗設備與方法.....................................41
5.1實驗設備...............................................41
5.1.1硬體.................................................41
5.1.2軟體.................................................45
5.2實驗方法...............................................45
5.2.1角速度與速度之系統識別...............................46
5.2.2利用應變規觀測鋼索傳動設備滑輪組之安全性.............50
5.2.3利用設計的升降定速控制策略進行控制與不同載重實作.....54
5.2.4系統模型模擬驗證.....................................55
第六章 結果與討論.........................................58
6.1爬升機構實體化.........................................58
6.1.1伸縮架...............................................59
6.1.2支撐架...............................................60
6.1.3滑輪組...............................................62
6.1.4整體機構實體測試.....................................63
6.2升降速度控制...........................................65
6.2.1第一種設定:角速度1.35rad/s時、速度0.02m/s...........66
6.2.2第二種設定:角速度1.6rad/s時、速度0.025m/s...........68
6.2.3第三種設定:角速度1.84rad/s時、速度0.03m/s...........70
第七章 結論...............................................73
參考文獻..................................................74
附錄A ERA LabVIEW程式....................................77

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