請用此 Handle URI 來引用此文件：
http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/36674完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 馮蟻剛 | |
| dc.contributor.author | Feng-Wei Yang | en |
| dc.contributor.author | 楊峰偉 | zh_TW |
| dc.date.accessioned | 2021-06-13T08:10:32Z | - |
| dc.date.available | 2006-07-28 | |
| dc.date.copyright | 2005-07-28 | |
| dc.date.issued | 2005 | |
| dc.date.submitted | 2005-07-20 | |
| dc.identifier.citation | [1] S. Dudowsky, and F. Freudenstein, “Dynamic Analysis of Mechanical Systems with Clearances, Part1: Formation of Dynamic Model, ”ASME Journal of Engineering for Industry, vol. 93, pp. 305 –309, 1971
[2] R. C. Azar, and F. R. E. Crossley, “Digital Simulation of Impact Phenomenon in Spur Gear Systems, ”ASME Journal of Engineering for Industry, vol. 99, pp. 792 –798, 1977. [3] M. T. Mata-Jimenez, B. Brogliato, and A. Goswami, “On the Control of Mechanical Systems with Dynamic Backlash,” Proc. 36th Conference on Decision and Control, San Diego, California, pp. 1990-1995, 1997. [4] M. Indri and A. Tornambe, “Application of a PD Controller on Two Mating Gears with Elasticity and Backlash,” Proc. 36th Conference on Decision and Control, San Diego, California, pp. 1984-1989, 1997. [5] K. Ezal, P. V. Kokotovic, and G. Tao, “Optimal Control of Tracking Systems with Backlash and Flexibility,” Proc. 36th Conference on Decision and Control, San Diego, California, pp. 1749-1754, 1997. [6] B. Friedland, “Feedback Control of Systems with Parasitic Effects,” Proc. American Control Conference, Albuquerque, New Mexico, pp. 937-941, 1997. [7] C. W. Tao, “Fuzzy Control for Linear Plants with Uncertain Output Backlashes” IEEE Trans. on Systems, Man, and Cybernetics, vol. 32, pp. 373 –380, 2002. [8] M. Odai, and Y. Hori,“Speed Control of 2-Inertia System with Gear Backlash using Gear Torque Compensator,”The 5th International Workshop on Coimbra, Portugal, pp. 234 –239, 1998. [9] Y. Nakayama, K. Fujikawa, and H. Kobayashi,“A Torque Control Method of Three-Inertia Torsional System with Backlash,”Proceedings of the 6th International Workshop on Nagoya, Japan, pp. 193 –198, 2000 . [10] Timoshenko and Goodier, Theory of Elasticity, 3rd Edition, McGraw-Hill, 1970. [11] G. Werner, IMPACT, The Theory and Physical Behaviour of Colliding Solids, Edward Arnold, LTD., London, 1960. [12] D. C. H. Yang and Z. S. Sun, “A Rotary Model for Spur Gear Dynamics,” Journal of Mechanisms, Transmissions, and Automation in Design, pp. 529-535, 1985. [13] Richard L. Burden and J. Douglas Faires, Numerical Analysis, 7th Edition, Pacific Grove: brooks/cole 2001. pp. 141-152. [14] Benjamin C. Kuo, Automatic Control System, 7th Edition, New Jersey: Prentice Hall, 1997. [15] 蘇君誠, “具有齒隙雙馬達驅動系統的智慧型控制,” 碩士論文, 台灣大學電機工程研究所, 民國九十年。 [16] 胡智源, “具齒隙與無作用區之雙馬達驅動系統的智慧型控制,” 碩士論文, 台灣大學電機工程研究所, 民國九十二年。 [17] 沈金鐘著, PID控制器理論、調整與實現, 滄海出版社印行, 2001. [18] 余明興、吳明哲、黃世陽編著, Borland C++ Builder 6 程式設計經典, 松崗出版社印行, 2002 | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/36674 | - |
| dc.description.abstract | 雙馬達驅動系統之優點在於能提供較大的扭力以及抑制齒隙效應，但在控制上也變的比較複雜。本論文針對在位置控制與速度控制中因齒隙效應導致系統產生的問題加以探討，並設計PID控制器及引入預力控制法則設法解決齒隙效應。
本論文首先建立三齒輪碰撞模型與馬達模型，並以此為基礎，架構具齒隙之雙馬達驅動系統模型，以作為控制器設計的模擬平台。最後利用硬體完成雙馬達驅動系統的位置控制與速度控制，並討論控制器與預力控制法則對系統性能造成的影響。硬體實驗是在Windows 2000 professional○R 作業系統下，使用BCB 6.0○R 製作人性化操作介面的環境而完成。 | zh_TW |
| dc.description.abstract | The dual-motor driving system is able to deliver more power, and has the potential to suppress the backlash effect in the gear system, but the control of such system is more complicated. This thesis discusses the position and velocity control problems of dual-motor driving systems, with emphasis on the backlash effect. PID controllers augmented by the balanced control laws are designed to improve the system performance.
Firstly a dynamic model of a dual-motor driving system with gear backlash effect is derived, and the control laws are designed for simulation. The position and velocity control of the dual-motor driving system are implemented in hardware experiments. According to the experimental results, this thesis also discusses the influence on the system performance caused by different control laws. The hardware experiments are implemented with a friendly graphical user interface written in BCB 6.0○R under the Windows 2000 professional○R operating system. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-13T08:10:32Z (GMT). No. of bitstreams: 1 ntu-94-R92921054-1.pdf: 932583 bytes, checksum: 09e2bc46651cb347ef56b45b0ac358a7 (MD5) Previous issue date: 2005 | en |
| dc.description.tableofcontents | 目 錄
第一章 緒論 1.1 引言..........................................1. 1.2 文獻回顧......................................2. 1.3 論文架構......................................3. 第二章 雙馬達驅動系統動態模型的建立 2.1 具齒隙的三齒輪傳動系統動態模型................4. 2.1.1 理想的齒輪動態型............................4. 2.1.2 具齒隙的齒輪碰撞動態模型....................5. 2.1.3 具齒隙之三齒輪傳動系統動態模型.............11. 2.2 馬達模型的建立...............................13. 2.2.1 實際馬達響應的分析.........................13. 2.2.2 馬達模型的分析.............................15. 2.2.3 馬達參數的選定.............................17. 2.2.4 馬達模型的建立與實際馬達模型的比較.........20. 2.3 雙馬達驅動系統動態模型.......................23. 第三章 雙馬達驅動系統的位置控制 3.1 單馬達驅動系統與雙馬達驅動系統位置控制的比較....25. 3.1.1 單回授位置系統架構..........................25. 3.1.2 雙馬達系統與單馬達系統在單回授位置控制的比較.26. 3.2 雙馬達驅動系統位置控制器的設計..................29. 3.2.1 雙馬達驅動系統位置控制架構...................29. 3.2.2 控制器的設計.................................30. 3.2.3 預力控制法則.................................33. 3.2.3.1 固定預力控制法則.....................34. 3.2.3.2 變動預力控制法則.....................34. 3.2.3.3 速度跟隨預力控制法則.................35. 3.3 硬體系統架構與位置控制實作結果..................36. 3.3.1 硬體系統架構..............................36. 3.3.2 實作的軟體環境............................40. 3.3.3 硬體實驗結果..............................42. 3.3.3.1 PID控制器對位置控制的影響...........43. 3.3.3.2 預力共制法則對位置控制的影響........45. 3.3.3.3 位置换向實驗........................50. 第四章 雙馬達驅動系統的速度控制 4.1 單馬達驅動系統的速度控制器設計.................53. 4.1.1 單馬達驅動系統單回授速度控制..............53. 4.1.2 單馬達驅動系統的速度控制架構..............54. 4.2 雙馬達驅動系統速度控制器的設計...............55. 4.2.1 雙馬達驅動系統速度控制架構................56. 4.2.2 控制器的設計與預力控制法則................56. 4.3 速度控制實驗結果.............................58. 4.3.1 單馬達驅動系統的速度控制..................58. 4.3.2 雙馬達驅動系統的速度控制..................61. 4.3.3 變速度實驗................................65. 第五章 結論與未來工作...............................67. 參考文獻....................................................68. 附錄 | |
| dc.language.iso | zh-TW | |
| dc.subject | 齒隙效應 | zh_TW |
| dc.subject | 預力 | zh_TW |
| dc.subject | PID控制器 | zh_TW |
| dc.subject | 馬達模型 | zh_TW |
| dc.subject | 雙馬達 | zh_TW |
| dc.subject | Backlash effect | en |
| dc.subject | Dual-motor | en |
| dc.subject | Balanced force | en |
| dc.subject | PID controller | en |
| dc.title | 具有齒隙及不匹配雙馬達驅動系統的分析與控制器設計 | zh_TW |
| dc.title | Analysis and Controller Design of a Mismatch Dual-Motor Driving System with Gear Backlash | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 93-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 莊堯棠,溫 成,盧信豪 | |
| dc.subject.keyword | 雙馬達,齒隙效應,馬達模型,PID控制器,預力, | zh_TW |
| dc.subject.keyword | Dual-motor,Backlash effect,PID controller,Balanced force, | en |
| dc.relation.page | 70 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2005-07-21 | |
| dc.contributor.author-college | 電機資訊學院 | zh_TW |
| dc.contributor.author-dept | 電機工程學研究所 | zh_TW |
| 顯示於系所單位： | 電機工程學系 | |
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