Please use this identifier to cite or link to this item:
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/27946Full metadata record
| ???org.dspace.app.webui.jsptag.ItemTag.dcfield??? | Value | Language |
|---|---|---|
| dc.contributor.advisor | 陳明新(Min Shin Chen) | |
| dc.contributor.author | Sou-Chien Lin | en |
| dc.contributor.author | 林守謙 | zh_TW |
| dc.date.accessioned | 2021-06-12T18:29:28Z | - |
| dc.date.available | 2007-08-28 | |
| dc.date.copyright | 2007-08-28 | |
| dc.date.issued | 2007 | |
| dc.date.submitted | 2007-08-02 | |
| dc.identifier.citation | [1] J Pu, PR Moore, RH Weston , “Digital servo motion control of air motors,” International Journal of Production Research, 1991
[2] J.J. Shearer, “Continuous Control of Motion with Compressed Air,” ScD, Thesis, Massachusetts Institute of Technology, 1954 [3] “Sensoray Model 626 PCI Multifunction I/O Board Instruction Manual,” Sensoray Co., Inc., 2004 [4] “Real-Time Workshop User's Guide,” The MathWorks. [5] “Real-Time Windows Target User's Guide,” The MathWorks. [6] “Proportional directional control valves MPYE Instruction Manual,” Festo Co., Ltd.,2006 [7] ”視覺化建模環境-Simulink入門與進階,” Terasoft, inc.,2001 [8] 陳明新, ”Nonlinear Control,”課程講義 [9] 陳明新, ”Adaptive Control,”課程講義 [10] Liu jinkun, “Malab Simulation for Sliding Mode Control,”北京清華大學出版社 2005 | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/27946 | - |
| dc.description.abstract | 本文使用Pc-based氣壓伺服系統來測試氣動馬達的定位控制，即時控制架構是在Simulaink環境下，搭配Real-Time Window Target所建立，可以快速的切換模擬和即時控制。使用氣壓來驅動的系統，會包含許多不穩定的因素，造成系統建模以及控制器設計上的困難，所以本文嘗試以梯度演算法識別出一個低階的系統模型，其中包含動擦力的影響。然後藉由滑動模式控制器來解決氣壓伺服系統中不穩定因素造成的控制問題，並對照比例控制的結果，驗證滑動模式控制器對於氣壓伺服系統的實用性。 | zh_TW |
| dc.description.abstract | This thesis studies the PC-based position control of air motor. This control system is carried out under Simulink with Real-Time Window Target. This structure enables the execution to switch rapidly between Simulation and Real-Time control. The air drived system contain uncertainties which cause difficulty on sysem modeling and controller design. This thesis identifies by gradient algorithm the pneutronic system as a second order system with dynamic friction. The sliding mode control is used to eliminate the uncertainties. Its performance is compared with propotional control to verify the effectivenss of sliding mode control. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-12T18:29:28Z (GMT). No. of bitstreams: 1 ntu-96-R94522819-1.pdf: 1389470 bytes, checksum: 764f85c57410662e69fd0fa7a53da26e (MD5) Previous issue date: 2007 | en |
| dc.description.tableofcontents | 致謝.............................................Ⅲ
中文摘要.............................................Ⅳ 英文摘要.............................................V 目錄.............................................Ⅵ 圖表索引.............................................Ⅷ 第一章 前言...............................................1 1.1 研究動機..............................................1 1.2 研究方法..............................................1 第二章 PC-based 控制架構..................................2 2.1 氣動伺服系統硬體設備..................................2 2.1.1 氣動馬達............................................2 2.1.2 比例伺服閥..........................................3 2.1.3 光學編碼器..........................................4 2.1.4 信號擷取與輸出控制卡................................5 2.2 PC-based即時控制系統.................................6 第三章 系統識別..........................................11 3.1 梯度演算法...........................................11 3.2建立氣動馬達模型......................................16 2.3參數估測結果..........................................18 第四章 滑動模式控制......................................25 4.1 滑動模式理論.........................................25 4.2 控制器設計...........................................26 4.3 氣動馬達滑動模式控制.................................29 第五章 結果分析與討論....................................33 5.1 比例控制.............................................33 5.2 滑動模式控制.........................................36 5.3比例控制與滑動模式控制對於不同角度的定位結果.........41 第六章 結論與展望.......................................47 參考文獻................................................48 | |
| dc.language.iso | zh-TW | |
| dc.subject | 滑動模式 | zh_TW |
| dc.subject | 氣動馬達 | zh_TW |
| dc.title | PC-based氣動馬達滑動模式控制 | zh_TW |
| dc.title | PC-based Sliding Mode Control of Air Motor | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 95-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 譚俊豪(Jin Hau Tam),曾敏烈(Ming Lei Tseng) | |
| dc.subject.keyword | 氣動馬達,滑動模式, | zh_TW |
| dc.subject.keyword | PC-based,Air Motor,Sliding Mode, | en |
| dc.relation.page | 48 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2007-08-03 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| Appears in Collections: | 機械工程學系 | |
Files in This Item:
| File | Size | Format | |
|---|---|---|---|
| ntu-96-1.pdf Restricted Access | 1.36 MB | Adobe PDF |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.