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完整後設資料紀錄
DC 欄位 | 值 | 語言 |
---|---|---|
dc.contributor.advisor | 江茂雄 | |
dc.contributor.author | Yu-Lin Chen | en |
dc.contributor.author | 陳育霖 | zh_TW |
dc.date.accessioned | 2021-06-08T04:46:10Z | - |
dc.date.copyright | 2009-08-06 | |
dc.date.issued | 2009 | |
dc.date.submitted | 2009-07-30 | |
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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/23182 | - |
dc.description.abstract | 本論文旨在發展液壓-雙壓電混合系統之力量控制研究,結合液壓伺服系統與雙壓電致動器構成基本的液壓-雙壓電混合架構,由於液壓伺服系統具有高響應與高出力的特性,而壓電致動器具高響應、中出力及精密定位能力,故結合液壓伺服系統與雙壓電伺服系統所發展出的混合力量控制系統,是針對系統達到高精度力量控制之目標。力量控制係以伺服液壓缸進行力量響應的粗控制,再以雙壓電致動器進行力量響應的精密補償,因此形成了二進一出之控制系統架構。但由於堆疊式壓電致動器無法承受大拉力及扭力,本論文提出創新之精密力量控制系統,運動時本系統壓電致動器都只有承受壓的力量,不會因過大之拉力而造成斷裂。而液壓伺服力量控制及雙壓電伺服精密力量控制,本文以具自調式模糊滑動補償之適應性模糊控制(Adaptive fuzzy controller with self-tuning fuzzy sliding-mode compensation)進行控制器設計,以實驗驗證及實現高精度之液壓-雙壓電混合系統之力量控制,來克服液壓系統不確定性、時變性和環境變動等高度非線性的問題。本文首先利用數值分析軟體Matlab/Simulink進行開迴路系統的建立和閉迴路系統的模擬,以驗證控制器的可行性,最終以實驗實現。實驗證實此控制器在本系統之液壓力控制的穩態誤差可達到3%,而液壓-雙壓電混合系統力控制的穩態誤差可達到力量感測器(Loadcell)最小解析度5N內,且有效縮短力控制系統響應的上升時間並減低力控制響應的最大超越量,充分展現液壓-雙壓電混合系統力控制性能較液壓系統力控制具更高性能的特性。 | zh_TW |
dc.description.abstract | The purpose of this thesis is to develop a hydraulic-dual piezoelectric hybrid force control system, in which the variable rotational speed hydraulic pump driving hydraulic cylinders combines dual-piezoelectric actuators force system. Due to the structure limit of the stack type piezoelectric actuator, the piezoelectric actuator allows big compression forces, but small tension forces and torque. The dual- piezoelectric force system developed in this paper makes the two piezoelectric actuators having only compression force for applying in bi-directional high loading condition. The hydraulic servo system serves to control force in coarse range and the dual-piezoelectric force control system works in fine range to reach control force accuracy. The control system contains dual-input and single output. For that, adaptive fuzzy controller with self-tuning fuzzy slide-mode compensation (AFT-STFSMC) is used to design the hydraulic force controller and the dual-piezoelectric force controller. To solve the coupling interaction between the two subsystems, a decoupling controller is added. The simulation and experiment results show that the proposed hydraulic-dual piezoelectric system can achieve 5 N accuracy with the steady state error within 0.7% of the output. The hydraulic-dual piezoelectric hybrid force control system can perform better than the hydraulic system force control, both in transient response and steady-state error. | en |
dc.description.provenance | Made available in DSpace on 2021-06-08T04:46:10Z (GMT). No. of bitstreams: 1 ntu-98-R96525018-1.pdf: 8446642 bytes, checksum: c6c8ee4055974f0961bdb416c23946c0 (MD5) Previous issue date: 2009 | en |
dc.description.tableofcontents | 口試委員會審定書 I
誌謝 II 中文摘要 III ABSTRACT IV 目錄 V 圖目錄 VIII 表目錄 XIII 第一章 緒論 1 1.1 前言 1 1.2 文獻回顧 3 1.2.1 泵控液壓系統文獻回顧 3 1.2.2 力量控制文獻回顧 5 1.2.3 壓電致動器文獻回顧 6 1.2.4 液壓-壓電系統文獻回顧 7 1.2.5 控制理論回顧 7 1.3 研究動機 8 1.4 本文架構 9 第二章 實驗系統架構與設備 11 2.1 液壓-雙壓電混合力量控制系統設計及建立 11 2.2 實驗系統架構 15 2.3 液壓系統 17 2.3.1 變轉速泵控液壓系統 17 2.3.2 抗衡閥(Counterbalanced valve) 20 2.3.3 等效彈簧 21 2.4 壓電致動器 23 2.4.1 壓電致動器的簡介 23 2.4.2 壓電致動器優缺點 24 2.4.3 壓電致動器的磁滯現象 25 2.4.4 壓電致動器的潛變現象 25 2.5 感測器 26 2.5.1 光學尺 26 2.5.2 壓力傳感器 26 2.5.3 力量感測器 27 2.6 PC-BASED控制系統 28 第三章 系統數學模型建立及分析 31 3.1 變轉速泵控液壓伺服系統 31 3.1.1 系統數學模型建立 31 3.1.2 動態開迴路模擬與實際系統比較 36 3.2 壓電致動器 39 3.2.1 壓電致動器之數學模型 39 3.2.2 壓電致動器的系統參數鑑別 39 第四章 控制理論和控制器設計 41 4.1 模糊控制理論 41 4.1.1 模糊系統 42 4.1.2 模糊控制器基本架構 42 4.2 滑動模態控制理論 46 4.2.1 滑動模態控制 46 4.2.2 顫振現象 48 4.3 模糊滑動平面控制理論 49 4.3.1 模糊滑動模式理論 49 4.3.2 滑動平面選取 51 4.3.3 歸屬函數建立 51 4.4 具自調式模糊滑動補償之適應性模糊控制理論 55 4.5 具自調式模糊滑動補償之適應性模糊控制之穩定性分析 58 4.6 系統控制器設計 61 4.6.1 液壓伺服力控制器之設計 61 4.6.2 壓電伺服控制器之設計 64 4.6.3 解耦合控制 65 第五章 模擬及實驗結果與討論 69 5.1 變轉速泵控液壓伺服系統及壓電伺服系統力量控制模擬 70 5.1.1 變轉速泵控液壓伺服系統力量控制模擬 70 5.1.2 雙壓電伺服系統力量控制模擬 74 5.1.3 液壓-雙壓電混合伺服系統力量控制模擬 77 5.2 變轉速泵控液壓伺服系統力量控制實驗 80 5.2.1 變轉速泵控液壓伺服系統力量控制實驗, 80 5.2.2 變轉速泵控液壓伺服系統力量控制實驗, 89 5.2.3 變轉速泵控液壓伺服系統力量控制實驗, 94 5.2.4 變轉速泵控液壓伺服系統力量控制實驗比較分析 99 5.2.4.1相同等效彈簧係數,不同力量之力控制比較 99 5.2.4.2相同力量,不同等效彈簧係數之力控制比較 105 5.3 雙壓電伺服系統力量控制實驗 109 5.3.1 雙壓電伺服系統力量控制模式分析 110 5.3.2 創新雙壓電伺服系統力量控制實驗 116 5.4 液壓-雙壓電混合伺服系統力量控制實驗 120 5.4.1 液壓-雙壓電伺服系統力量控制實驗, 121 5.4.2 液壓-雙壓電伺服系統力量控制實驗, 129 5.4.3 液壓-雙壓電伺服系統力量控制實驗, 137 5.4.4 液壓-雙壓電伺服系統力量控制實驗比較分析 146 5.4.4.1 相同等效彈簧係數,不同力量之力控制比較 146 5.4.4.2 相同力量,不同等效彈簧係數之力控制比較 154 5.5 液壓伺服系統與液壓-雙壓電混合伺服系統之力量控制實驗比較 162 5.6 等效彈簧係數K值對系統力控制響應之影響說明 176 5.7 液壓-雙壓電混合伺服系統雙向力量控制實驗 178 第六章 結論與建議 185 參考文獻 189 | |
dc.language.iso | zh-TW | |
dc.title | 液壓-雙壓電混合系統力量控制之研究 | zh_TW |
dc.title | Development of a Hydraulic-Dual Piezoelectric Hybrid Servo Force control System | en |
dc.type | Thesis | |
dc.date.schoolyear | 97-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 陳義男,郭振華,施明璋,吳聰能 | |
dc.subject.keyword | 液壓-雙壓電混合系統,變轉速泵控液壓系統,雙壓電致動器,具自調式模糊滑動補償之適應性模糊控制,力量控制, | zh_TW |
dc.subject.keyword | hydraulic-dual piezoelectric hybrid system,variable rotational speed pump system,dual-piezoelectric actuator,adaptive fuzzy controller with self-tuning fuzzy sliding-mode compensation,force control, | en |
dc.relation.page | 193 | |
dc.rights.note | 未授權 | |
dc.date.accepted | 2009-07-30 | |
dc.contributor.author-college | 工學院 | zh_TW |
dc.contributor.author-dept | 工程科學及海洋工程學研究所 | zh_TW |
顯示於系所單位: | 工程科學及海洋工程學系 |
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