臺灣博碩士論文加值系統

人工肌肉氣壓缸的內部摩擦力，使其具高度非線性特性難以精確控制，故本文以 LuGre 摩擦模型 摩擦模型 摩擦模型 摩擦模型建立人工肌肉氣壓缸的摩擦模型，並以粒子群優化演算法(PSO)求解未知的摩擦參數，以完成人工肌肉氣壓缸的系統識別。

本研究並以可程式系統單晶片PSoC 作為人工肌肉氣壓缸實驗平台的資料擷取卡，藉由感測器所測量得到的訊號得到人工肌肉氣壓缸的壓力與位置，並將取得之訊號資料繪製成人工肌肉氣壓缸的遲滯曲線(Hysteresis curve) 以為摩擦模型識別用。

Pneumatic artificial muscle is a highly nonlinear system because of the internal friction effects, so the LuGre friction model is developed for the friction model of the pneumatic artificial muscle in this paper, and the Particle Swarm Optimization Algorithm (PSO) is used to solve the unknown parameters of the friction model for the system identification of the pneumatic artificial muscle.

In addition, the Programmable System on Chip (PSoC) is used for the data acquisition of the pneumatic artificial muscle system. The data about the displacement and the pressure of pneumatic artificial muscle are measured for the
development of the hysteresis loop in the pneumatic artificial muscle.

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摘要……………………………………………………………………………….i
Abstract…………………………………………………………………….…….ii
誌謝……………………………………………………………………………...iii
目錄……………………………………………………………………………...iv
表目錄…………………………………………………………………………..vii
圖目錄…………………………………………………………………….........viii
目錄目錄目錄目錄
第一章 緒論
1.1 研究動機……………………………………………………….……...1
1.2 文獻回顧………………………………………………………………5
1.3 研究目的………………………………………………………………7
第二章 人工肌肉氣壓缸之系統識別
2.1 人工肌肉氣壓缸致動平台………………………….…………………8
2.1.1 實驗平台………………………….…………………….………8
2.1.2 人工肌肉氣壓缸輸出力之數學模型……………….………….9
2.2 LuGre 摩擦模型……………….……………………..………..……..10
2.2.2LuGre 摩擦模型之穩態參數….……………………..………....14
2.2.3 LuGre 摩擦模型之動態參數….……………………..………...14
2.3 LuGre 摩擦參數識別……………….……………………..………....15
2.4 粒子群演算法(Particle Swarm Optimization Algorithm ,PSO) …......18
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第三章 人工肌肉氣壓缸之實驗平台
3.1 實驗平台設計.……………………..……………………..………....20
3.1.1 人工肌肉氣壓缸(Pneumatic artificial muscle) ……………....21
3.1.2 脈衝寬度調變(Pulse width modulation, PWM) …...………....22
3.1.3 比例壓力閥………………..………………………………......26
3.1.4 雷射位移感測器…………..………………………………......27
3.1.5 PSoC CY8C29466-24PXI 晶片與 CY3210 開發板………......28
3.2 可程式化系統單晶片(PSoC) ……..………………………………...29
3.3 圖形使用者介面(GUI)設計……..…………………………………..34
第四章 結果與討論
4.1 實驗流程………....…………………………………………………...36
4.2 測試結果………....…………………………………………………...38
4.2.1 人工肌肉氣壓缸之特性曲線………………...………………...38
4.2.2 量測數據之曲線擬合……..………………….………………...43
4.3 結果與討論……………………….………………..............................48
4.3.1 LuGre 摩擦模型之動態參數……………..................................48
4.3.2 LuGre 摩擦模型之穩態參數……………..................................51
4.3.3 模擬結果……………..................................................................55
4.3.4 討論……………..........................................................................59
第五章 結論……………………….………………...........................................60
參考文獻
附錄
附錄一 PSoC 程式碼
附錄二 Visual Basic 程式碼

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