射出成型機加熱料管溫度控制之干擾補償

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姓名

李東洲(Dong-Jhou Lee) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

射出成型機加熱料管溫度控制之干擾補償
(Temperature control and disturbance compensation of Injection Molding Machines)

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摘要(中)

一般射出成型機加熱料管在進行溫度控制時，主要的問題是來自於會造成系統響應震盪的系統延遲時間以及多段加熱料管透過熱傳導而相互耦合的影響，另外也包含料管進料時的降溫和環境室溫等影響系統穩定性的因素，本文即是針對這些問題進行分析及研究並結合已知的控制方法及理論，進行控制系統的設計及實驗。
　　本文主要是利用改良型史密斯估測器(Astrom’s Modified Smith Predictor)做為系統的控制架構，透過最小平方法(Least squares algorithm)做受控系統參數的判別，並將估測的系統參數使用於史密斯估測器架構中的估測系統，根據估測系統的參數設計合適的PI控制器使系統有良好的暫態及穩態響應。而控制架構中的干擾補償器則是使用Chen在相關研究中的設計方法，並且為了降低控制系統的複雜性，在補償器中延遲項倒數的部分以近似的方式來實現，然後根據控制理論架構，利用Simulink建立系統架構進行模擬，根據模擬的結果作控制器與干擾補償器的參數調整，最後以實驗的方試驗證其可行性。

摘要(英)

There are several issues of controling temperature for operating Plastic Injection Molding Machines. There are three main problem which have to be solved.
First, time delay of a system causes the system responses fluctuating. Second, coupling effect among the heaters influences the heat transmitting. Third, disturbance causes the system response unstable and unreliable. This thesis analyzes and studies aforesaid issues, and applies a control method and theory to design a controller.
Astrom’’s Modified Smith Predictor is applied in the control scheme of the system in this thesis. Least squares algorithm is applied to estimate parameters of the system. PI controller is designed to make the system have better performance according to estimated parameters. Disturbance compensator is adopted to suppress the coupling effect. Simulation is performed by using Simulink. Parameters of the controller and the disturbance compensator are adjusted according to simulation, and the feasibility of the proposed approach is verified with the experiment.

關鍵字(中)

★ 干擾補償
★ 史密斯估測器
★ 延遲系統

關鍵字(英)

★ disturbance compensator
★ Modified Smith predictor
★ time delay

論文目次

摘要 ................................................................................................. i
Abstract ............................................................................................ ii
致謝 ................................................................................................ iii
目錄 ................................................................................................ iv
圖目錄 ............................................................................................ vii
表目錄 ............................................................................................ x
符號說明 ........................................................................................ xii
一、緒論 ......................................................................................... 1
1-1 研究背景與動機 ....................................................................... 1
1-2 文獻探討 ................................................................................... 4
1-3 論文架構 ................................................................................... 6
二、控制系統硬體架構 ................................................................. 7
2-1 系統硬體說明 ........................................................................... 7
2-2 系統架構 ................................................................................... 10
2-3 系統參數判別 ........................................................................... 12
三、控制器原理與設計 ................................................................. 15
3-1 史密斯估測器(Smith Predictor) .................................................. 15
3-2 PID控制器設計 ......................................................................... 17
3-3 改良型史密斯估測器(Modified Smith Predictor) ....................... 18
3-4 控制系統架構及干擾補償器設計 ............................................ 21
四、實驗結果與討論 ...................................................................... 24
4-1 無干擾補償PI控制模擬數據 ..................................................... 24
4-1-1 估測系統與實際系統參數相等(單段模擬)............................ 24
4-1-2 估測系統與實際系統參數不相等(單段模擬) ....................... 26
4-1-3 加入外部干擾模擬數據1(單段模擬) ..................................... 28
4-1-4 加入外部干擾模擬數據2(單段模擬) ..................................... 30
4-2 干擾補償配合PI控制模擬數據 ................................................. 32
4-2-1 估測系統與實際系統參數不相等(單段模擬) ....................... 32
4-2-2 加入外部干擾模擬數據1(單段模擬) ..................................... 34
4-2-3 加入外部干擾模擬數據2(單段模擬) ..................................... 36
4-3 干擾補償配合PI控制實驗數據 ................................................. 40
4-3-1 無外部干擾實驗數據(單段實驗) ........................................... 40
4-3-2 加入外部干擾實驗數據1(單段實驗) ..................................... 42
4-3-3 加入外部干擾實驗數據2(單段實驗) ..................................... 44
4-3-4無外部干擾實驗數據(多段實驗) ............................................ 46
第五章結論與未來展望 .................................................................. 48
5-1 結論 ............................................................................................ 48
5-2 未來展望 .................................................................................... 48
參考文獻 .......................................................................................... 49

參考文獻

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[9] Kichul Hong, Kwanghee Nam, "A load torque compensation scheme under the speed measurement delay " IEEE Transactions, Industrial Electronics. 45 (1998) 283 - 290
[10] Chin-Teng Lin, Chia-Feng Juang, and Chung-Ping Li, "Temperature Control with a Neural Fuzzy Inference Network", IEEE Transactions, Systems, Man, and Cybernetics, Part C: Applications and Reviews, Volume: 29 , Issue: 3 Publication Year: 1999 , Page(s): 440 - 451
[11] Hartono, P, Hashimoto, S, "Neural network ensemble with temperature control", Neural Networks, 1999. IJCNN '99. International Joint Conference on, Volume: 6, Publication Year: 1999 , Page(s): 4073 - 4078
[12] 李俊賢，「模糊類神經網路應用於壓克力反應槽溫度控制之研究」，國立成功大學，碩士論文，民國九十一年
[13] 張百棧，「模糊倒傳遞網路於印刷電路板生產預測之應用」，元智大學，碩士論文，民國九十二年
[14] 簡宏益，「加熱料管自調式溫度控制」，國立台灣海洋大學，碩士論文，民國九十七年

指導教授

董必正(Pi-Cheng Tung)

審核日期

2010-7-13

推文