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研究生:黃鈵鈞
研究生(外文):Huang, Bing-Jun
論文名稱:三維空間強健輪廓控制與智慧型動態進給之整合設計
論文名稱(外文):Three-Dimensional Integrated Design of Robust Contouring and Intelligent Dynamic Feedrate Control
指導教授:林冠禎劉志成劉志成引用關係
指導教授(外文):Lin, Kuan-ChenLiu, Chih-Chen
口試委員:林大偉張名輝楊錫凱林冠禎劉志成
口試委員(外文):Lin, Da-WeiChang, Ming-HuiYang, Xi-KaiLin, Kuan-ChenLiu, Chih-Chen
口試日期:2012-06-28
學位類別:碩士
校院名稱:遠東科技大學
系所名稱:電腦應用工程研究所
學門:電算機學門
學類:電算機應用學類
論文種類:學術論文
論文出版年:2012
畢業學年度:100
語文別:中文
論文頁數:82
中文關鍵詞:NURBS輪廓控制順滑模態控制模糊控制動態進給率
外文關鍵詞:NURBScontour controlsmooth-mode controlfuzzy controldynamic feed rate
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近些年來,人們生活水準持續攀升以及科技的進步,使得日常生活用品或者其他產品的不管是精緻度或者品質也要求越來越高,且對於生產之更新率也日漸提升,然而在過去所使用之傳統CNC工具機已無法達到高精度且高生產效率之目標,因此如何有效的降低輪廓誤差並能夠兼顧生產效率之工具機研究發展演然已成為世界熱烈討論之話題。論文中共提出三種改善輪廓誤差之方法並且加以整合,最終架構出一套完整的基於改善輪廓誤差並且兼顧生產效率之整合式控制法則。並且利用新型之NURBS插值器來產生任意軌跡之自由型曲線加以驗證本論文所提出之控制法則之有效性。首先本論文提出利用任務座標轉換後的輪廓控制器先對輪廓進行改善,再以改良式順滑模態控制器設計出一套具有強健性之輪廓誤差控制器,並利用模糊控制理論研究設計出一套可以即時調節進給率之系統,此系統可針對輪廓誤差以及軌跡的曲率即時調變進給率,使整體的輪廓誤差表現可藉由進給率的調變來達到精度提升之目的,並藉由曲率使進給率於曲率較大處以低速通過,而在曲率較小處以高速通過,使得在不必犧牲太多的加工時間的前提下,達到高精度之需求,藉此來獲得高速且高精度之最終成果。
In recent years, the people's standard of living continues to rise, and the advancement of technology, making everyday goods or other products regardless of the fine degree or quality have become increasingly demanding, and the update rate of production is steadily growing, however, used in the pastconventional CNC machine tools has been unable to achieve the goal of high precision and high production efficiency, and therefore effectively reduce the contour error and be able to take into account the productivity of machine tools research and development performance contingent has become a topic of lively discussion in the world. Paper were made in three to improve the contour error and to be integrated, the final structure of a complete and improve the contour error and taking into account the production efficiency of integrated control law. And use of a new type of NURBS interpolation to generate arbitrary trajectories of the free curve to verify the validity of the control law proposed in this paper. First of all, this paper presents the outline of the task coordinate transformation controllers first contour improvement in the modified sliding mode controller design of a robust contour error controller, and fuzzy control theory to design set can instantly adjust the feed rate of the system, this system can be real-time contour error and the curvature of the trajectory modulation feed rate, so that the overall contour error performance by modulation of the feed rate to achieve the purpose of accuracy improvement and by the curvature so that the feed rate in the large curvature punishable by low-speed sentenced to speed through the small curvature, so without sacrificing too much processing time, to achieve high accuracy needs to take to get high-speed and the precision of the final results.
誌謝 i
摘要 ii
Abstract iii
目錄 iv
表目錄 vi
圖目錄 vii
符號表 x
第一章 緒論 1
1-1 前言與動機 1
1-2 文獻回顧 3
1-3 研究目的與論文架構 7
第二章 NURBS特性與NURBS插值器設計 9
2-1 NURBS數學模型與特性描述 9
2-2 參數化曲線插值設計法則 12
第三章 3D輪廓誤差與強健型輪廓誤差控制器設計 19
3-1 輪廓誤差 19
3-1-1 3D線性輪廓誤差模型 19
3-1-2 不規則弧形曲線輪廓誤差模型 20
3-2 曲率大小之求法 21
3-3 3D輪廓控制器設計方法 23
任務空間座標轉換 23
強健型輪廓誤差控制器設計 24
第四章 智慧型動態進給控制器設計 32
4-1 模糊控制器之簡介 34
4-2 基於模糊控制之智慧型動態進給控制器設計 37
第五章 模擬結果與分析 42
5-1 模擬參數設定 42
5-2 模擬結果分析 44
第六章 實驗結果與討論 50
6-1 實驗系統架構 50
6-2 實驗結果 55
6-3 分析與討論 71
第七章 結論與未來展望 76
參考文獻 79
自述 82

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