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研究生:林宗毅
研究生(外文):Tsung-Yi Lin
論文名稱:羅拉式梳棉機系統建模與滑動模式控制
論文名稱(外文):Mathematic Modeling and Sliding Mode Control of a Roller Card System
指導教授:郭中豐郭中豐引用關係
指導教授(外文):Chung-Feng Jeffrey Kuo
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:自動化及控制研究所
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:2010
畢業學年度:98
語文別:中文
論文頁數:64
中文關鍵詞:羅拉式梳棉機棉網均勻性滑動模式控制
外文關鍵詞:Roller CardWeb UniformitySliding Mode Control
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本研究之目的在控制羅拉式梳棉機(Roller Card)產出棉網(Fiber Web)之均勻度(Uniformity),首先建立羅拉式梳棉機動態模型,進行動態模型(Dynamic Model)分析與控制設計,最後完成實務驗證。
羅拉式梳棉機動態模型之建立是以系統各主要工作羅拉(Roller)之運動模式,相對速度,針布(Clothing) 及齒針特性推導出棉網之傳輸率及移行率(Collecting Power),結合由各工作羅拉間之間隙、羅拉中心對應角度與角速度所推演而得的棉網傳遞延遲時間,計算出整體羅拉式梳棉機動態數學模型。
滑動模式控制是可變結構控制系統的一種,將不連續系統區分成不同的子系統,再以所設定的逼近條件及切換條件(控制律)引導系統達到控制目標的方法。本研究中採用滑動模式控制(Sliding Mode Control)作為控制器之設計理論,藉由其不受干擾的強健性能,再經由適當的滑動平面(Sliding Surface)及邊界層(Boundary Layer)的設計達成控制目標獲得均勻的棉網輸出。
本實驗證實滑動模式控制確能有效控制羅拉式梳棉機,提高輸出棉網均勻度。
The objective of this thesis is to control the fiber web uniformity produced by roller card. The dynamic model of roller card has been derived based on the mechanisms configuration and their physical characteristics. The calculation of collecting power is based on the roller surface speed, roller diameter, tooth angle of clothing and the force balance equation of the relative teeth. The transmission time between rollers is derived from the gap between rollers, roller diameter, roller angular speed as well as angles between roller centers.
The stability, controllability and model verification of the derived mathematic model of roller card has been examined and verified. This thesis starts with input output linearization theory to find the relative degree of the roller card mathematic model, then to implement the variable structure feedback control law by means of sliding mode controller.
The performance of sliding mode controller is verified via the control system of roller card. The control system consists of an optic-fiber photo sensor, servo motor system, on-line real time simulation system and a roller card.
摘要 1
ABSTRACT 2
第1章 緒論 3
1.1 前言 3
1.2 文獻回顧 4
1.2.1 輸出棉網量測系統之文獻回顧 4
1.2.2 羅拉式梳棉機模型及控制系統之文獻回顧 4
1.2.3 控制理論之文獻回顧 5
1.3 研究動機與目的 6
1.4 研究步驟 7
1.5 本文架構 9
第2章 實驗架構與設備 10
2.1 羅拉式梳棉機 11
2.2 紅外線光纖感測器 11
2.3 控制介面卡 12
2.4 即時模擬軟體 13
2.5 直流伺服馬達與驅動器 14
2.6 棉網密度與電壓量測 15
2.7 棉網均勻度 16
第3章 羅拉式梳棉機動態模型推導 17
3.1 羅拉式梳棉機 17
3.2 羅拉式梳棉機各主要部分簡介 17
3.2.1喂棉羅拉組(Feed Conveyor/Feed Roller) 18
3.2.2刺輥羅拉(Licker-in Roller) 18
3.2.3梳棉/剝取羅拉組(Worker/Stripper Roller) 19
3.2.4錫林(Cylinder) 20
3.2.5針布羅拉(Fancy Roller) 21
3.2.6道夫(Doffer) 21
3.3 羅拉式梳棉機之物理參數 22
3.3.1 傳輸率 22
3.3.2傳遞時間 25
3.3.3移行率 27
3.4 羅拉式梳棉機之數學模型 29
3.4.1單純的傳輸延遲 -刺輥組 29
3.4.2移行及遞回作用- 梳棉/剝取羅拉組 29
3.4.3遞回作用-道夫 30
3.4.4整體梳棉機數學模型 30
第4章 系統動態模型分析與控制器設計 35
4.1 系統穩定度分析及響應 35
4.2 輸入-輸出線性化控制 40
4.2.1相對階數(Relative Degree) 40
4.2.2 Lie導數(Lie Derivatives) 41
4.3 菲利波夫(Filippov)系統 42
4.3.1菲利波夫(Filippov)方法 45
4.4滑動模式控制(Sliding Mode Control) 47
4.4.1滑動模式之穩定性 50
4.4.2滑動模式控制數學推導 50
4.4.3 滑動模式控制器設計 52
第5章 實驗結果與討論 54
5.1 實驗結果 54
5.2 結果討論 57
第6章 結論與建議 59
參考文獻 60
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