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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 | Chia-Wei Hsu | en |
dc.contributor.author | 許家維 | zh_TW |
dc.date.accessioned | 2021-06-13T00:32:41Z | - |
dc.date.available | 2016-08-05 | |
dc.date.copyright | 2011-08-05 | |
dc.date.issued | 2011 | |
dc.date.submitted | 2011-08-04 | |
dc.identifier.citation | References
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Lee, “H infinity tracking-based sliding mode control for uncertain nonlinear systems via an adaptive fuzzy-neural approach,” IEEE Transactions on Systems, Vol. 32, pp. 483-492, 2002 [ 27 ] C. F. Hsu, T. T. Lee, and C.M. Lin, “Robust adaptive fuzzy sliding-mode control with H infinity tracking performance for a class of nonlinear systems,” Proceedings of the IEEE International Conference on Control Applications, Vol. 1, pp. 604-609, 2004 [ 28 ] Y. A. Zhang, Y. L. Mi, Z.M. Zhu and F.L. Lu, “Adaptive sliding mode control for two-link flexible manipulators with H infinity tracking performance,” International Conference on Machine Learning and Cybernetics, pp. 702-707, 2005 [ 29 ] C. C. Kung and T. H. Chen., “H infinity tracking-based adaptive fuzzy sliding mode controller design for nonlinear systems,” IET Control Theory and Applications, pp. 82-89, 2007 [ 30 ] Ping-Chang Chen, “Analysis and control of Pneumatic Vibration Isolators,” Doctoral Disseration, National Cheng Kung University. 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dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/28974 | - |
dc.description.abstract | 本文旨在實現單軸主動式氣壓減振控制之研究,以PWM控制訊號並配合並聯式雙快速電磁開關閥,實現主動式氣壓減震控制。隔振桌腳座內的氣墊式氣壓隔振器,原為被動式的氣壓隔振元件,本文利用其充氣加壓過程中產生的膨脹與收縮的變化特性,作為主動減震控制下的單動式氣壓致動器。
本文首先建立氣壓減震系統之數學模式, 推導系統簡化為一非線性時變方程式,再結合具 追蹤性能之以函數近似法為基礎之適應性滑動控制( FSB-ASMC+ H infimity , Fourier series-based Adaptive Sliding Mode Control with Hinfimity tracking performance)進行控制器的設計,藉以克服氣壓系統之高度不確定性與時變問題。 以MATLAB軟體進行系統的動態模擬,藉以驗證系統架構與控制器的可行性。本研究建立實驗系統進行即時控制實驗,分別實現軌跡追蹤控制及主動式減振控制,最後為滿足氣壓隔振系統之實際需求,結合軌跡追蹤控制及主動式減震控制,發展為混合控制系統,進行不同外在干擾下之混合控制實驗,藉以檢驗此控制方法對於外在干擾之抑振效果. | zh_TW |
dc.description.abstract | This study aims to develop the anti-vibration control for the active PWM (Pulse Width Modulation) pneumatic vibration isolation system. A novel concept using parallel dual-on/off valves with PWM control signals is proposed to realize the active anti-vibration control and pass tracking control.
In this study, we first derive the nonlinear mathematical model of the pneumatic isolation system. In the controller design, the Fourier series-based adaptive sliding-mode controller with H infinity tracking performance is used for dealing with the uncertainty and time-varying problems of the pneumatic system. The open-loop and closed-loop dynamic simulations are implemented by MATLAB to verify the feasibility of the proposed system and controller. Furthermore, the experiments of pass tracking control and the active anti vibration control are implemented in the pneumatic isolation system. Finally, in order to satisfy the demand of the practical application in pneumatic isolation system. The hybrid control that combines the pass tracking control and anti-vibration control is developed and verified through experiments under different condition. | en |
dc.description.provenance | Made available in DSpace on 2021-06-13T00:32:41Z (GMT). No. of bitstreams: 1 ntu-100-R98525064-1.pdf: 1604598 bytes, checksum: 335f9b4f3642a28d106096dd8ec0ddee (MD5) Previous issue date: 2011 | en |
dc.description.tableofcontents | 口試委員會審定書 I
致謝 II 中文摘要 III Abstract IV Contents V List of Figures VIII List of Tables XIV Chapter 1 Introduction 1 1.1 Preface 1 1.2 Literature Survey 2 1.2.1 Pneumatic isolation systems 2 1.2.2 PWM Pneumatic Control System 3 1.2.3 Control Theory 4 1.3 Motivation and Organization of the Thesis 7 1.3.1 Motivation 7 1.3.2 Organization of the Thesis 8 Chapter 2 Layout of Test Rig of Pneumatic Isolation System 9 2.1 Layout of the PWM Pneumatic Isolation System 9 2.2 Experimental Hardware 15 2.2.1 Cushion isolator 15 2.2.2 Position sensor 15 2.2.3 Velocity sensor 16 2.2.4 On/off solenoid valve 16 2.2.5 Pneumatic Cylinder 17 2.2.6 Linear scale 17 2.2.7 Proportional servo valve 18 2.3 PC-Based Control System 19 Chapter 3 Layout of Test Rig of Pneumatic Isolation System 20 3.1 Principle of Pulse Width Modulation (PWM) 20 3.2 Applications of PWM-control in the Pneumatic Isolation System via on/off Valves 22 3.2.1 Dual parallel 3/2 on/off valves in the pneumatic isolation system 22 3.2.2 PWM control output signal design 24 3.3 Dynamics Model of Pneumatic Isolation System 25 3.3.1 Dynamics of high speed on/off valve 25 3.3.2 The mass flow rate equation 27 3.3.3 Dynamic model of pneumatic isolator 29 3.3.4 Motion equation 33 Chapter 4 Controller Design and Stability Analysis 34 4.1 Functional approximation with Fourier series 34 4.2 Design of a Fourier series-based adaptive sliding-mode controller with tracking performance 36 4.3 Controller parameters 42 Chapter 5 Simulations and Experiments 44 5.1 Simulation and Experiment for Single-Axial Pneumatic Isolator 46 5.1.1 Comparison of open-loop and closed-loop simulation and experiment for single-axial pneumatic isolator 47 5.1.2 Comparison of closed-loop simulation and experiment for pneumatic isolator with sinusoidal path 50 5.1.3 Comparison of closed-loop anti-vibration experiment for single-axial pneumatic isolator 54 5.1.4 Hybrid control experiment of path tracking control and active anti-vibration control for single-axial pneumatic isolator with external disturbance 59 5.2 Anti-Vibration Control under Different Sampling Time and Control Parameter 62 5.2.1 Comparison of different sampling time 62 5.2.2 Comparison of different control parameter 70 5.3 Experiment of Hybrid Control with Different Disturbance and Path Profiles 75 5.3.1 Experimental results of hybrid control with different intermittent disturbance 75 5.3.2 Experimental results of different control target with intermittent disturbance 81 Chapter 6 Conclusions 86 References 87 | |
dc.language.iso | en | |
dc.title | 以快速開關閥實現單軸主動式氣壓減震控制之研究 | zh_TW |
dc.title | Development of Active Control for a Single-Axis Pneumatic Isolator via High Speed on/off Valves | en |
dc.type | Thesis | |
dc.date.schoolyear | 99-2 | |
dc.description.degree | 碩士 | |
dc.contributor.oralexamcommittee | 郭振華,陳明飛,林靖國,鍾清枝 | |
dc.subject.keyword | 氣壓伺服系統,氣壓隔振器,並聯式雙開關閥,脈波寬度調變,主動式隔振控制,軌跡控制,適應性滑動控制,函數近似法,H infinity追蹤性能, | zh_TW |
dc.subject.keyword | pneumatic servo system,pneumatic isolator,parallel dual-on/off valves,PWM,pass control,active anti-vibration control,functional approximation,adaptive sliding mode control,H infinity tracking performance., | en |
dc.relation.page | 91 | |
dc.rights.note | 有償授權 | |
dc.date.accepted | 2011-08-04 | |
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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