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研究生:陳立業
研究生(外文):Li-Yeh Chen
論文名稱:多軸運動系統之同步與循跡控制
論文名稱(外文):Synchronous and Contouring Control for Multi-Axis Motion System
指導教授:陳金聖陳金聖引用關係
口試委員:張文中顏炳郎蕭俊祥黃緒哲胡竹生
口試日期:2012-06-21
學位類別:博士
校院名稱:國立臺北科技大學
系所名稱:機電科技研究所
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:英文
論文頁數:164
中文關鍵詞:龍門系統鑑別多軸同步控制多軸同步誤差模型多軸同動循跡補償多軸交叉耦合同動控制器輪廓誤差預視補償
外文關鍵詞:dual-drive ball screw gantry systemcross-coupling synchronous controllercross-coupling position command shaping controllook-ahead contouring error compensation
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多維度的機械系統中,多軸驅動所組成的結構是常見的,其結構關係可以是以串聯或是並聯的方式存在,因此系統規格指標不再僅只考量各軸之定位精度或各軸追蹤性能,更為重要的是在於各軸間的同步或同動循跡協調能力,因此本論文分別針對於多軸同步相關的龍門系統鑑別、多軸同步控制策略(第二章、第三章)與多軸同動循跡追蹤補償策略(第四章、第五章)加以研究,達成高速高精的多軸運動控制目的。
針對龍門結構系統模型我們提出一鑑別系統參數的流程與保證鑑別參數收斂之演算法,其特點為利用兩次實驗即可估測出適合用於控制用之準確系統模型參數,且因估測之輸入命令較為溫和,故較不會對含機構耦合之龍門系統產生破壞。於多軸同步控制研究中,提出一容易擴充使用之多軸同步誤差模型,並利用此模型發展一結合H-infinity強健控制理論的同步控制架構與同步控制器設計步驟,達成多軸同步誤差改善;多軸同動循跡主題,我們提出了兩種可用在不同應用場合的輪廓誤差補償策略: 1.) 結合H-infinity的多軸交叉耦合同動控制器與 2.) 輪廓誤差預視補償法。方法一為運用設計控制器的手法,達成各軸的動態協調,而方法二則採用即時修正命令技巧,達成誤差的修正。本論文所提之各演算法最後皆實現於不同之運動平台上,並得到良好的補償效果。

In the multi-axis mechanism, all axis are linked with synchronous or series configuration. Hence, the performance index of a multi-axis system is not only to improve the tracking performance of each axis, but also simultaneously consider the synchronous and contouring ability for the multi-axis. In this thesis, two multi-axis synchronous subjects (Chapter 2, 3) and two multi-axis trajectory control algorithms (Chapter 4, 5) are proposed to achieve high speed and high accuracy motion control for multi-axis motion system.
After build the model of dual-drive ball screw gantry system, a simple and accurate identification process and algorithm are presented and so does its convergence analysis. For synchronous control of a multi-axis system, a new cross-coupling synchronous controller (CCSC) structure using control scheme with compensation at its reference position command is presented, together with its stability analysis. This research adopts the concept of synchronous error transfer function matrix (SETFM) and the mixed sensitivity problem method to design the CCSC.
For multi-axis contouring control, there are two control strategies proposed to improve the contouring error. First, a new cross-coupling position command shaping control (CPCSC) structure using control scheme with compensation at its reference position command is also presented, together with its stability analysis. Although the compensated objects of CPCSC and CCSC are different, the control structure and controller design of CPCSC are similar to CCSC, therefore, all properties of CCSC can be inherited from CPCSC. In contrast, a look-ahead contouring error compensation (LACEC) is presented based on the prediction contouring error. It shapes the position commands of all axis in real-time before the original position commands are fed into the servo loops of the motion system. Finally, the proposed control strategies are all implemented on different motion systems to verify the performance. The experimental results show that our proposed control algorithms can individually improve the synchronous and contouring errors of multi-axis motion systems.

ABSTRACT(CHINESE) i
ABSTRACT(ENGLISH) iii
ACKNOWLEDGEMENTS v
TABLE OF CONTENTS vi
LIST OF TABLES viii
LIST OF FIGURES ix
NOMENCLATURE xiii
Chapter 1 INTRODUCTION 1
1.1 General Review 1
1.2 Research Objectives 4
1.3 Dissertation Organization 6
Chapter 2 SYNCHRONIZING DUAL-DRIVE BALL SCREW GANTRY SYSTEM IDENTIFICATION 9
2.1 Modeling of a Synchronizing Dual-Drive Ball Screw Gantry System 9
2.2 Synchronizing Dual-Drive Ball Screw Gantry System Identification 15
2.3 Simulations and Experiments 37
2.4 Summary 46
Chapter 3 ROBUST CROSS-COUPLING SYNCHRONOUS CONTROL BY SHAPING POSITION COMMAND IN MULTI-AXIS SYSTEM 47
3.1 Synchronous Error of Multi-axis Definition 47
3.2 Design of Control System 50
3.3 Stability Analysis 61
3.4 Quadri-axial Synchronizing Performance Evaluation and Discussion 63
3.5 Dual-drive Ball Screw Gantry Synchronizing Performance Evaluation and Discussion 83
3.6 Summary…. 89
Chapter 4 ROBUST CROSS-COUPLING POSITION COMMAND SHAPING CONTROL IN MULTI-AXIS MOTION SYSTEM 91
4.1 Contour Error of Multi-axis Trajectory 91
4.2 Position Command Shaping Controller 94
4.3 Stability Analysis 103
4.4 Experimental Results 104
4.5 Summary… 117
Chapter 5 LOOK-AHEAD CONTOURING ERROR COMPENSATION 119
5.1 Proposed Look-Ahead Contouring Error Compensation for Freeform Curve 120
5.2 Freeform Curve Contour-Error Discussion 122
5.3 Equivalence of Reference Model and Real Servo System 129
5.4 Experimental Results 136
5.5 Summary.... 152
Chapter 6 CONCLUSIONS 153
References 156



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