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標題: | 以快速開關閥實現單軸主動式氣壓減震控制之研究 Development of Active Control for a Single-Axis Pneumatic Isolator via High Speed on/off Valves |
作者: | Chia-Wei Hsu 許家維 |
指導教授: | 江茂雄 |
關鍵字: | 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, 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., |
出版年 : | 2011 |
學位: | 碩士 |
摘要: | 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. 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. |
URI: | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/28974 |
全文授權: | 有償授權 |
顯示於系所單位: | 工程科學及海洋工程學系 |
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