智慧型運動控制器之研發

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姓名

王仕銘(Shin-Ming Wang) 查詢紙本館藏

畢業系所

機械工程學系

論文名稱

智慧型運動控制器之研發

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至系統瀏覽論文 ( 永不開放)

摘要(中)

本論文主要針對馬達驅動之運動系統，使用一個干擾觀測器的運動架構，該控制架構主要用於驅動器之速度迴路，由輸入訊號減去參考模型第一階的倒數之輸出訊號所組成，並且選用適合的低通濾波器，讓干擾觀測器在實驗平台上得到有效的結果。該控制方案可以減少由參考模型和未知的系統模型之間的差異所造成的不確定性和外界之干擾。
另外提出一個消除系統由非線性因素所造成之自我激發振盪(hunting)之抑制控制架構，該控制架構係用於速度迴路，並使用基因演算法調整出該控制抑制架構Ka、Ks值，使得振動抑制控制架構可以有效抑制此系統所造成的振盪。

摘要(英)

In this paper, the motion system for motor drive, using a disturbance observer movement structure, the control architecture is mainly used for the speed of the drive circuit, the input signal is subtracted from the reference model of the reciprocal of the first-order output signal composed, and selected suitable low- pass filter, so the disturbance observer effectively results in the experimental platform. This control scheme can reduce uncertainty and no interference by the external reference model and the differences between models of the unknown system caused.
Another proposes a framework to eliminate inhibitory control system caused by the nonlinear factors of self-excited oscillation (hunting) of the control system for the speed loop architecture and uses a genetic algorithm to adjust the control to suppress architecture Ks、Ka value, so that the vibration inhibitory control architecture can effectively suppress oscillations caused by this system.

關鍵字(中)

★ 干擾觀測器
★ 基因演算法
★ 振動抑制

關鍵字(英)

論文目次

摘要....................... I
ABSTRACT.................. II
致謝 ...................... V
目錄 ...................... VI
圖目錄..................... IX
表目錄 .................... XII
一、緒論..................... 1
1-1 研究背景及動機............ 1
1-2 文獻回顧..................3
1-3 文章架構..................5
二、實驗平台硬體與軟體簡介.......6
2-1 實驗架構簡介...............6
2-2 硬體架構..................7
2-2-1 伺服馬達................7
2-2-2 YASKAWA驅動器...........9
2-2-3 滑軌 ..................11
2-3 軟體架構..................14
三、干擾觀測器 DOB之設計.........16
3-1 系統鑑別......................................... 16
3-2 干擾觀測器架構................................. 20
3-3 低通濾波器....................................... 22
四、振動抑制與基因演算法.......................... 26
4-1 振動抑制補償器............................... 26
4-2 基因演算法........................................... 30
4-2-1 基因演算法導論[20]................ 30
4-2-2 基因演算法的運作過程......... 31
(1) 編碼方法....................................... 32
(2) 適應函數................................ 32
(3) 複製 ............................................ 33
(4) 交配 ............................................. 34
(5) 突變 ................................................ 35
五、實驗結果 ............................. 37
5-1 系統鑑別結果 ..................................... 37
5-2干擾觀測器結果.................................... 40
5-3基因演算法調整振動抑制參數之結果............... 46
5-4 振動抑制結果....................................... 49
六、結論與未來展望...................................... 54
6-1 結論 ........................................... 54
6-2 未來展望...................................... 54
參考文獻:............................ 55

參考文獻

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指導教授

董必正(Pi-Cheng Tung)

審核日期

2014-8-5

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