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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/44526完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 江茂雄(Mao-Hsiung Chiang) | |
| dc.contributor.author | Bi-Shin Shiu | en |
| dc.contributor.author | 許必欣 | zh_TW |
| dc.date.accessioned | 2021-06-15T03:03:01Z | - |
| dc.date.available | 2011-08-06 | |
| dc.date.copyright | 2009-08-06 | |
| dc.date.issued | 2009 | |
| dc.date.submitted | 2009-07-30 | |
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Lü, “Elektropneumatischer Positionierantrieb mit schnellen Schaltventilen”, PhD dissertation, RWTH Aachen, 1992 [ 22 ] Zhang Jia-Fan , Yang Can-Jun, Chen Ying, Zhang Yu, Dong Yi-Ming,” Modeling and control of a curved pneumatic muscle actuator for wearable elbow exoskeleton, Mechatronics, Vol.18, pp.448–457, 2008 [ 23 ] V. I. Utkin,”Variable structure system with sliding modes”, IEEE Trans, Automatic Control,Vol.AC-22,No.2,pp-212-222,April,1977 [ 24 ] J. J. Slotine, ”Tracking Control of Nonlinear System using Sliding Surface”, Doctoral Dissertation, Massachusetts Institute of Technology,1983 [ 25 ] J. J. Slotine, “Sliding controller design for non-linear systems, ”International Journal of Control, vol. 40, no. 2, pp. 421-434, February, 1984. [ 26 ] S. W. Kim and J. J. Lee, “Design of a fuzzy controller with fuzzy sliding surface,” Fuzzy Sets Syst., vol. 71, pp. 359–367, 1995 [ 27 ] 吳宗修,”適應性模糊滑動模式控制應用於高響應泵控液壓系統之力量控制”, 國立台灣科技大學自動化及控制研究所碩士論文, 2005 [ 28 ] P. A. Ioannou, J. Sun, Robust Adaptive Control, Prentice Hall, 1996 [ 29 ] H. P. Whitaker, J. Yamron, A. Kezer, Design of Model Reference Adaptive Control Systems for Aircraft, Report R-164, Instrumentation Laboratory, M. I.T. Press, Cambridge, Massachusetts, 1958 [ 30 ] L. Cai, W. Huang, Fourier series based learning control and application to positioning table, Robotics and Autonomous Systems, Vol. 32, pp. 89-100, 2000. [ 31 ] A. C. Huang and Y. S. Kuo, “Sliding Control of Nonlinear Systems Containing Time-varying Uncertainties with Unknown Bounds”, International Journal of Control, Vol. 74, No.3, pp.252-264, 2001 [ 32 ] P. C. Chen, A. C. Huang.,” Adaptive Sliding Control of Active Suspension Systems with Uncertain Hydraulic Actuator Dynamics.”, Vehicle System Dynamics, Vol.44, pp.357-368,2006 [ 33 ] B. S. Chen,C.H. Lee, and Y. C. Chang ,”H infinity Tracking of Uncertain Nonlinear SISO Systems:Adaptive Fuzzy Approach “, IEEE Transactions on Fuzzy Systems, April, 1996 [ 34 ] W. Y. Wang, M.L.C. Hsu, C. 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[ 40 ] 陳文山編譯, “高頻與振盪.調變電路“,全華科技圖書股份有限公司, 1994 [ 41 ] 郭春彥, ”無桿氣壓缸之非線性動態分析與伺服控制,” 國立中興大學電機工程學碩士論文, 1997. [ 42 ] 林浩庭, “氣壓伺服三軸平行機構機械臂設計與控制之研究” ,國立臺灣大學工程科學及海洋工程學研究所碩士論文,2008. | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/44526 | - |
| dc.description.abstract | 本文旨在發展主動式氣壓隔振系統之定位控制，以創新之並聯式雙開關閥結合PWM控制訊號，控制氣壓隔振系統，實現定位控制及軌跡追蹤控制，同時，氣壓快速開關閥具價廉之優勢，而本文使用軟體實現脈波寬度調變方式控制電磁開關閥之開啟及關閉時間，如此可以不用透過硬體電路實現脈波寬度調變，在降低成本同時也可以達到控制精度的要求，藉由電磁開關閥快速的切換，形成間歇性流體，並藉由調整責任比來獲得平均性流體的輸出效果，以達到控制氣體流量之效果，並達到全數位訊號之控制系統。
本文首先建立氣壓隔振平台非線性數學模式，以MATLAB軟體進行系統動態模擬，完成開迴路之模型後，再結合具H infinity 追蹤性能之以函數近似法為基礎適應性滑動控制（FSB-ASMC+H infinity , Fourier series-based Adaptive Sliding Mode Control with H infinity tracking performance）設計控制器形成閉迴路的控制，而本實驗系統採用並聯式雙快速開關閥來控制氣壓隔振平台達成主動式控制，當氣壓隔振系統到達穩態後，容許誤差小於目標值後即可藉由快速開關閥關閉氣壓源，以防止因使用單快速開關閥控制，在穩態之後會造成持續快速切換的疑慮。 | zh_TW |
| dc.description.abstract | Position control of the single-axis active pneumatic isolation system is realized on this research. Innovating parallel dual-on/off valves with PWM control signal is implemented to control pneumatic isolation system for positioning and trajectory tracking control and then the pneumatic high speed on/off valves have the advantages of low cost. In this study, we use software to realize PWM technique to control on/off valves’ open and close time. Therefore, we do not have the hardware circuit to implement pulse width modulation and not only cost down but also reach control precision of demand. Intermittence fluid is formed by changing of high speed on/off valves and performance of average fluid is obtained by adjusting duty cycle, so as to achieve the effect of gas flow control, and to achieve all digital signal of the control system.
In the first place, the non-linear mathematical model of vibration isolation platform is founded. The dynamic system is simulated by MATLAB. After open-loop model is completed, we combine this model with Fourier series-based Adaptive Sliding Mode Control with H infinity tracking performance to design controller to form a close-loop control. In this study, the pneumatic isolation platform is controlled by parallel dual-on/off valves to achieve active control. When the pneumatic isolation system is achieving steady-state and the allowable error is smaller than the demand, air source is shut by parallel dual-on/off valves. The continuous high change is prevented by using a single on/off valve after steady-state. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T03:03:01Z (GMT). No. of bitstreams: 1 ntu-98-R96525023-1.pdf: 1097003 bytes, checksum: 1b40d65c3619914f424d0ca03384be5b (MD5) Previous issue date: 2009 | en |
| dc.description.tableofcontents | 口試委員會審定書 I
致謝 II 中文摘要 III 英文摘要 IV 目錄 V 圖目錄 VII 表目錄 X 第一章 緒論 1 1.1 前言 1 1.2 文獻回顧 2 1.2.1 氣壓隔振系統之回顧 2 1.2.2 PWM氣壓控制系統之回顧 3 1.2.3 控制理論之回顧 4 1.3 研究動機及本文架構 6 1.3.1 研究動機 6 1.3.2 本文架構 7 第二章 系統架構與建立 8 2.1 PWM氣壓隔振系統架構 8 2.2 實驗設備 11 2.2.1 氣墊式隔振器 11 2.2.2 磁力尺 11 2.2.3 電磁開關閥 12 2.2.4 介面卡 13 2.3 PC-BASED 控制系統 14 第三章 系統動態數學模型建立 15 3.1 脈波寬度調變原理 15 3.2 PWM在使用電磁開關閥之主動式氣壓隔振系統應用 16 3.2.1 PWM式三口二位電磁閥於主動式氣壓隔振系統 17 3.2.2 脈波寬度調變法設計 18 3.3 氣壓隔振系統數學模型 19 3.3.1 電磁開關閥 20 3.3.2 質量流率 22 3.3.3 氣壓隔振系統之數學模型 24 3.3.4 氣墊式隔振器之運動方程式 28 第四章 控制理論及設計 29 4.1 函數近似法 29 4.2 以函數近似法為基礎之適應性滑動模式控制理論與設計 31 4.3 以函數近似法為基礎之適應性滑動模式控制結合 追蹤 35 補償之軌跡控制理論及設計 35 4.4 控制參數 37 第五章 模擬及實驗結果與討論 38 5.1 單軸主動式氣壓隔振系統控制模擬與實驗比較 39 5.1.1 單軸主動式氣壓隔振系統開迴路模擬與實驗比較 40 5.1.2 單軸主動式氣壓隔振系統定位控制模擬與實驗比較 41 5.2 單軸主動式氣壓隔振系統控制實驗參數比較 48 5.2.1 不同取樣頻率之單軸主動式氣壓隔振系統比較 48 5.2.2 不同控制器參數之單軸主動式氣壓隔振系統比較 52 5.3 單軸主動式氣壓隔振系統不同條件下之定位控制實驗 59 5.3.1 單軸主動式氣壓隔振系統定位控制實驗 59 5.3.2 單軸主動式氣壓隔振系統定位控制實驗比較分析 64 5.3.3 單軸主動式氣壓隔振系統加載定位控制實驗 66 5.3.4 加載定位控制實驗比較分析 71 5.3.5 -單軸主動式氣壓隔振系統sine軌跡追蹤控制實驗 74 第六章 結論與建議 76 參考文獻 78 | |
| dc.language.iso | zh-TW | |
| dc.title | 以快速開關閥實現單軸主動式氣壓隔振系統定位控制之研究 | zh_TW |
| dc.title | Development of Position Control for a Single-Axis Active Pneumatic Isolation System via High Speed on/off Valves | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 97-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 薛文証,王富正,陳明飛,任志強 | |
| dc.subject.keyword | 氣壓隔振系統,並聯式雙開關閥,函數近似法,適應性滑動模式控制,脈波寬度調變法, | zh_TW |
| dc.subject.keyword | pneumatic isolation system,parallel dual-on/off valves,functional approximation,adaptive sliding mode control,PWM technique, | en |
| dc.relation.page | 80 | |
| dc.rights.note | 有償授權 | |
| 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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