氣動馬達之雙軸平台定位及追蹤控制; Position and Tracking Control of a Biaxial Pneumatic table

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Title:	氣動馬達之雙軸平台定位及追蹤控制;Position and Tracking Control of a Biaxial Pneumatic table
Authors:	王慈鈺;Tzu-Yu Wang
Contributors:	機械工程研究所
Keywords:	定位控制;滑模控制;氣動馬達;Air motor;Sliding-Mode-Controller;Position control
Date:	2009-07-02
Issue Date:	2009-09-21 12:08:53 (UTC+8)
Publisher:	國立中央大學圖書館
Abstract:	本論文使用DSP單晶片作為控制器設計介面，將其應用於馬達氣動雙軸平台系統作一定位及位置追蹤控制。分別使用PD控制器以及滑模理論(Sliding-Mode Theory)作為設計的基礎。氣動馬達的轉速主要決定於氣壓大小以及進氣量的多寡，因此氣體的可壓縮性以及系統摩擦力造成系統本身具有高度非線性的特性，本文首先利用Ziegler Nichols方法設計PD控制器的增益值，之後以順滑模式當做設計基礎，嘗試設計滑模控制器，並與PD控制器作性能的比較。由於氣動馬達在低速時，系統的摩擦力行為不可預測，無論何種控制器在低速時皆產生的振動，然而在其他情況下滑模控制器的追蹤速度及精準度皆優於PD控制器。 This thesis uses DSP controller to control the biaxial pneumatic table to position and tract location. The method of this thesis is based on the PD control theory and sliding mode theory. The speed of air motor is conditioned by the pressure of the compressor and the air inhalation of that. Therefore, the friction force and the air compressibility in the mechanism brings about the nonlinearity in the system. In this thesis, first of all, design the gains of PD controller according to Ziegler Nichols method. Second, design the sliding mode controller. Last, compare the result of PD controller with that of the sliding mode controller. Due to the unpredictable friction of air motor, it will vibrate in low speed no matter what controllers control the system. Nevertheless, under other circumstances the application of sliding mode controller, such as its tracking speed and tracking error, shows better results than that of PD controller.
Appears in Collections:	[Graduate Institute of Mechanical Engineering] Electronic Thesis & Dissertation

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