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研究生:何柏諺
研究生(外文):Po-Yen Ho
論文名稱:應用干擾觀測器與摩擦力補償於線性龍門平台追蹤控制
論文名稱(外文):Tracking Control of a Linear Gantry Stage Using a Disturbance Observer Based Controller with Friction Compensation
指導教授:林志哲林志哲引用關係
口試委員:吳建達陳介力
口試日期:2012-07-12
學位類別:碩士
校院名稱:國立臺北科技大學
系所名稱:自動化科技研究所
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:2012
畢業學年度:100
語文別:中文
論文頁數:97
中文關鍵詞:LuGre模型、粒子群演算法電荷演算法前饋控制器干擾觀測器
外文關鍵詞:LuGre ModelParticle Swarm Optimization(PSO)Charge Search System (CSS)Feed Forward ControllerrDisturbance observer
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近年來,位置定位系統在科技業應用非常頻繁,需要極佳高精度定位及高速性能的伺服機械系統是現今科技之主流。因此首先要克服的是平台移動時產生的摩擦力,而摩擦力往往造成平台定位誤差精度不足的重要因素。本文研究首先針對X軸線性馬達與Y軸由滾珠螺桿搭配伺服馬達所組成的龍門平台摩擦力鑑別,並採用LuGre摩擦力模型近似,根據此模型作為前饋控制器,以消除摩擦力所導致定位誤差。為了獲得模型的最佳參數,使用粒子群演算法與新穎的電荷演算法來鑑別系統、摩擦力模型與控制器參數。在控制器設計方面除了先前提到的前饋控制器外,還利用PD控制器增加系統穩定度、高增益觀測器解決微分不連續情況及干擾觀測器使系統可以消除外在干擾的特性,以達到高精度定位之需求。

In recent years, precise positioning and high-speed performance servo mechanical system has become the mainstream of technology development as it frequent use in technology industry. Hence, the friction is an important factor that leads to lack of precision for platform position, so conquer it when move platforms are necessary. However, this paper had research the X-axis liner motor and Y-axis ball screw which servo motor combine to Gantry stage identification of friction, and use the LuGre Friction Model which is resemble it. Therefore, according to this model as a Feed Forward Controller, it eliminates the error of orientation cause by friction. In order to retrieve the most accuracy data, it uses the Particle Swarm Optimization (PSO) and new Charge Search System (CSS) to distinguish systems, Friction model and controller parameter. In addition to the Feed Forward Controller, it also uses PD Controller to increase stability of system, the High Gain Observer to solve discontinuous situation of differential and the Disturbance observer to eliminate the external interference that achieves the demand of precise positioning.


中文摘要 i
英文摘要 ii
誌謝 iv
目錄 v
表目錄 vii
圖目錄 viii
第一章 緒論 1
1.1 研究動機 1
1.2 文獻回顧 2
1.3 論文架構 7
第二章 系統描述與模型建立 8
2.1龍門平台系統介紹 8
2.1.1 龍門平台系統配置 9
2.1.2 平台馬達配置 10
2.1.3 雷射光學尺 13
2.1.4 伺服驅動器 14
2.1.5 運動控制卡(dSPACE_DS1104) 15
2.2數學模型之建立 18
2.2.1 龍門機械系統模型 18
2.2.2 靜摩擦模型 19
2.2.3 動摩擦模型 24
2.3系統機械模型測量 26
2.4系統靜摩擦模型測量 27
2.5系統靜摩擦模型測量 31
第三章 演算法於系統參數鑑別 33
3.1 粒子群演算法介紹(PSO) 33
3.1.1 PSO演算法公式 33
3.1.2 PSO演算法流程 34
3.2 電荷搜尋演算法介紹(CSS) 36
3.2.1 CSS演算法公式 36
3.2.2 CSS演算法流程 38
3.3 系統機械模型之鑑別 44
3.4 系統靜摩擦模型之鑑別 46
3.5 系統動摩擦模型之鑑別 49
3.6 CSS結合PSO演算法於動摩擦模型之鑑別 53
第四章 控制器設計與實驗 56
4.1控制器架構 57
4.1.1 高增益觀測器 57
4.1.2 前饋控制器 58
4.1.3 干擾觀測器 59
4.2 模擬與實際驗證 61
4.3 實驗結果 66
4.3.1 單軸無負載動態追蹤控制 66
4.3.2 單軸負載動態追蹤控制 71
4.3.3 雙軸負載動態追蹤控制 76
4.3.4 雙軸變動負載動態追蹤控制 84
第五章 結論 93
參考文獻 95

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