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    Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/1657

    Title: 氣動馬達之單軸平台定位控制
    Authors: 練文程;Wun-Cheng Lian
    Contributors: 光機電工程研究所
    Keywords: 定位控制;參考模型適應性控制;氣動馬達;and Position control;MRAC;Pneumatic motor
    Date: 2007-06-29
    Issue Date: 2009-09-21 09:57:11 (UTC+8)
    Publisher: 國立中央大學圖書館
    Abstract: 本論文的主要目的為利用DSP(Digital Signal Process)之技術將氣動馬達單軸平台系統作一定位以及位置追蹤控制。由於氣動馬達最主要的控制因素在於氣壓的大小以及進氣量的多寡決定馬達的轉速,故藉由控制氣壓大小以及氣壓閥進氣量多寡,進一步達到我們所需的定位或位置追蹤控制。   由於系統本身具有非線性的特性,首先利用試誤法取得一比例積分(PI : Proportional-Integral)控制器;之後嘗試參考模型適應性控制(MRAC : Model Reference Adaptive Control)搭配模糊控制(FC : Fuzzy Control)作調變型控制,參考模型適應性控制為附加一個參考模型以及控制器參數的自動調節迴路,以參考模型的輸出響應為表示系統希望的動態響應,也代表對系統的性能要求所產生的控制,模糊控制器利用閉迴路系統響應的誤差及其變化率為輸入,經過彈性的控制法則達成有效的控制,這兩種控制的優點具有高度的強健性,對設計者不需要預知受控系統的模型參數。 Main purpose of thesis to utilize technology of Digital Signal Processing makes a position and tracking control in an axis platform by a pneumatic motor. Because the main control factors of the pneumatic motor lie in the atmospheric pressure and volume of the air inflow that determine the rotational speed of the motor, controlling the atmospheric pressure and volume of the air inflow from valves, further reach the position or tracking control. The system has non-linear characteristics. Using the trial and error obtains a Proportional-Integral controller at first, then designing the Model Reference Adaptive controller(MRAC)with the Fuzzy Controller(FC) control system, and compare the result.
    Appears in Collections:[光機電工程研究所 ] 博碩士論文

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