臺灣博碩士論文加值系統

本文提出一個修改機械系統動態行為的方法，使其閉迴路輸出趨近於目標動態行為。此目標動態行為可以與原系統有很大的差異，使得與該系統互動的操作者，能有特別的感受。由於原系統可能含有未知項，所以本文以函數近似法來估測之。因為要與操作者互動，所以免不了有接觸力的問題，本文亦以函數近似法來近似之，以免除昂貴力量感測器的安裝。另外，在免除力量感測的同時，極可能造成加速度迴授的需求，本文亦在控制器設計中，巧妙的予以規避。在免除了上述諸項需求後，本文藉由Lyapunov穩定度理論以及Barbalat’s lemma的嚴謹數學證明，來確保閉迴路系統的穩定性。最後，本文以一維機械旋轉系統為範例，進行實驗驗證，以證明所提出控制器的有效性。

This thesis proposes a methodology for dynamics modification of a mechanical system so that the closed loop behavior can be regulated to achieve a target dynamics. This target dynamic is different from the one of the original system to facilitate proper interaction with the operator. Since the original system may have unknown parameters and external disturbances, the function approximation technique is employed to estimate their effects. During the interaction with the operator, the contact force has to be properly treated. To get rid of the costly force sensors, an approximator is designed to have stable on-line estimation. In addition, there is no need for the acceleration feedback in the proposed design. The Lyapunov-like technique and Barbalat’s lemma are utilized to prove closed-loop stability mathematically. A one-dimensional rotation mechanical system is built to justify the feasibility of the proposed strategy.

中文摘要.....................................................................Ⅰ
Abstract...................................................................Ⅱ
誌謝........................................................................Ⅲ
目錄........................................................................Ⅳ
圖片索引.....................................................................Ⅴ
表格索引.....................................................................Ⅶ
第一章 緒論...................................................................1
第二章 控制器回顧與設計.........................................................4
2.1適應阻抗控制器回顧...................................................5
2.2動態修改控制器......................................................7
2.3適應動態修改控制器 -- 非時變系統......................................10
2.4適應動態修改控制器 -- 時變系統.......................................12
第三章 實驗設備與實驗結果.......................................................14
3.1實驗設備架構.......................................................14
3.2實驗規劃..........................................................16
3.3實驗結果..........................................................17
3.3.1純轉動慣量運動...........................................17
3.3.2阻尼運動................................................24
3.3.3彈簧運動................................................30
第四章 結論與未來展望...........................................................38
參考文獻......................................................................39

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