PC-based氣動馬達滑動模式控制

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。

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.