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標題: | 輸入塑形應用於六軸機械手臂之抑振控制 Vibration Suppression of a Six-Axis Manipulator Using Input Shaping Approach |
作者: | Yean-Yia Lin 林衍亦 |
指導教授: | 黃漢邦(Han-Pang Huang) |
關鍵字: | 多軸機械手臂抑振控制,修正型零時滯-末端點軌跡誤差補償輸入塑形,基於彈性關節動力學之回授控制, Vibration Suppression of a Multi-Axis Manipulator,Modified Zero Time-Delay Input Shaping with Contour-Error Compensation,Feedback Control Based on Elastic-Joint Dynamics, |
出版年 : | 2018 |
學位: | 碩士 |
摘要: | 本文致力於多軸機械手臂之抑振控制,提出一種在關節空間下前饋與回授結合的控制架構。前饋控制部分由零時滯輸入塑形進行軌跡規劃,並且加入末端點輪廓誤差的補償方法。一方面減少輸入塑形產生的輪廓誤差,一方面改善零時滯輸入塑形的缺點,減少時滯現象。回授控制部份則是一馬達端回授控制方法,負責馬達追蹤命令。為了結合這兩種控制方法,必須一併規劃塑形後軌跡命令的高次項微分。本文提出一種基於褶積性質的規劃方法而非使用數值微分,避免產生數值微分誤差。本文所提出之多軸機械手臂抑振控制理論與方法,經過模擬與實驗驗證之後,成效良好。 This thesis addresses the vibration suppression of a multi-axis manipulator with the elastic joints. A feedforward/feedback control architecture in joint space is proposed. The feedforward control strategy is a zero time-delay input shaping with contour-error compensation, which not only compensates the contour error but also improves the disadvantage of the zero time-delay input shaping, and the polyreference least-squares complex frequency domain method (PolyMAX) is applied to estimate modal parameters, such as natural frequency and damping ratio. The feedback control strategy is a motor-side feedback control based on elastic-joint dynamics. To combine the feedforward and feedback controls, this study proposes a method based on the properties of convolution, and the first four derivatives of the shaped command can be calculated instead of numerical differentiation, which is the necessary information for feedback control. The simulation and experimental results verify the performance of the proposed feedforward/feedback architecture for vibration suppression. This is more comprehensive than the performance of a single control strategy. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/79030 |
DOI: | 10.6342/NTU201803356 |
全文授權: | 有償授權 |
電子全文公開日期: | 2023-08-21 |
顯示於系所單位: | 機械工程學系 |
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ntu-107-R05522825-1.pdf 目前未授權公開取用 | 4.95 MB | Adobe PDF |
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