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http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/58965完整後設資料紀錄
| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 顏家鈺 | |
| dc.contributor.author | Ming-Han Chang | en |
| dc.contributor.author | 張名涵 | zh_TW |
| dc.date.accessioned | 2021-06-16T08:41:31Z | - |
| dc.date.available | 2014-09-25 | |
| dc.date.copyright | 2013-09-25 | |
| dc.date.issued | 2013 | |
| dc.date.submitted | 2013-09-09 | |
| dc.identifier.citation | [1] R. D. Lorenz and P. B. Schmidt, “Synchronized motion control for process automation,” IEEE Conference on Industry Applications Society Annual Meeting, vol. 2, pp.1693-1698,1989.
[2] G. S. Gupta , S. C. Mukhopadhyay , C. H. Messom and S. N. Demidenko. “Master–slave control of a teleoperated anthropomorphic robotic arm with gripping force sensing,” IEEE Trans. Instrum. Meas., vol. 55, pp.2136 2006. [3] I. Yamano , K. Takemura , K. Endo and T. Maeno,“Method for controlling master-slave robots using switching and elastic elements,” Proc. IEEE Int. Conf. Robot. and Autom., pp.1717 2002. [4] M. F. Hsieh, W. S. Yao, and C. R. Chiang, “Modeling and synchronous control of a single-axis stage driven by dual mechanically-coupled parallel ball screws,” The International Journal of Advanced Manufacturing Technology, vol. 34, no. 9-10, pp. 933-943, 2007. [5] M. F. Hsieh, C. J. Tung, W. S. Yao, M. C. Wu, and Y. S. Liao, “Servo design of a vertical axis drive using dual linear motors for high speed electric discharge machining,” International Journal of Machine Tools and Manufacture, vol. 47, no. 3-4, pp. 546-554, 2007. [6] M.C. Tsai, M.F. Hsieh, W.S. Yao, “Synchronous control of linear servo systems for CNC machine tools,” Proceedings of the 2003 European Control Conference, Cambridge,2003. [7] G. Turl, M. Sumner and G. M. Asher, “A Multi-Induction-Motor Drive Strategy Operating in the Sensorless Mode,” IEEE Conference on Industry Applications,2001. Thirty-Sixth IAS Annual Meeting, vol. 2, pp.1232-1239,2001. [8] FANUC, “FANUC parameter manual of AC server motor ai/bi series”, pp.251~254 [9] SIEMENS, “Description of Tool Management, SINUMERIK 840D sl/840Di sl/840D/840Di/810D, special functions”, pp.588~596. [10] Koren, Y., “Cross-coupled Biaxial Computer Control for Manufacturing Systems,”Journal of Dynamic Systems, Measurement, and Control, vol. 102, pp.265-272, 1980. [11] Y. T. Shih , C. S. Chen and A. C. Lee, “A novel cross-coupling control design for bi-axis motion,” Int. J. Mach. Tools Manuf., vol. 42, pp.1539, 2002. [12] K. Barton and A. Alleyne, “A cross-coupled iterative learning control design for precision motion control,” Control Systems Technology, vol. 000, p. 000, 2008. [13] Y. Koren and C.-C. Lo, “Variable-gain cross-coupling controller for contouring,” Ann. CIRP, vol. 40, no. 1, pp.371 -374, 1991. [14] Stephen J. Chanmpman 原著, 李建海 盧光常 編著, “電機機械基本原理精要” [15] J. X. Shen, Z. Q. Zhu, and D. Howe, “Sensorless flux-weakening control of permanent-magnet brushless machines using third harmonic back emf,” IEEE Trans. Ind. Appl., vol. 40, no. 6, pp.1629 -1636, 2004. [16] 線性馬達之原理 futuresmart.sg1003.myweb.hinet.net/data/motor.pdf [17] I. Boldea, and S. A. Nasar, “Linear electric actuators and generators,” IEEE transactions on energy conversion, vol. 14, no 3, pp.712-717, 1999. [18] 成大馬達科技研究中心， website:http://km.emotors.ncku.edu.tw/emotor/worklog/EMTRC/research_dir.php [19] 吳家慶, “交流永磁伺服馬達驅動控制,” 機械月刊,Oct,2005, pp.30-37. [20] P. Famouri, “Control of a linear permanent magnet brushless dc motor via exact linearization methods,” IEEE Trans. Energy Conv., vol. 7, pp.544 -551, 1992. [21] M. Sanada, S. Morimoto, and Y. Takeda, “Interior permanent magnet linear synchronous motor for high-performance drives,” IEEE Trans. Ind. Applicat., vol. 33, pp.966 -972, 1997. [22] 蘇于淵，“龍門平台之定位控制”，國立臺灣科技大學電機工程系碩士學位論文， 中華民國97 年7 月。 [23] D. Y. Ohm, “Dynamic Model of PM Synchronous Motors”, Drivetech, Inc., Blacksburg, Virginia. www.drivetech.com. [24] Y. Yokokohji and T. Yoshikawa, “Bilateral control of master-slave manipulators for ideal kinesthetic coupling,” IEEE Trans. Robot. Automat., vol. 10, pp.605 -620, 1994. [25] J.G.Ziegler and N.B.Nichols, “Optimum Settings for Automatic Controllers,” Trans ASME, Vol.64, pp.759-768,Nov. 1942. [26] Ilija Ž. Nikolić, Ivan Milivojević, “Application of Pseudo Derivative Feedback in Industrial Robots Controller,” the scientific journal on Mechanic, Automatic Control and Robotics, Facta University, vol. 2, No 8, pp.741-756, 1998. [27] Richard M. Phelan, “Automatic Control Systems,” Come11 University Press [28] D. Y. Ohm, “Analysis of PID and PDF Compensators for Motion Control Systems,”IEEE IAS Annual Meeting, pp. 1923-1929, Denvcr, Oct.2-7, 1994. [29] Franklin, Powell, Emami-Naeini, “feedback control of dynamic systems 4th” p.151 [30] TMS320F28335, TMS320F28334, TMS320F28332 Digital Signal Controllers (DSCs) Data Manual, tms320f28335, April 2009. [31] F28335 Delfino eZdsp One-Day Workshop Student Guide [32] 大銀微系統，website: http://www.hiwinmikro.com.tw/ [33] Keyence Corporation, website: http://www.keyence.com.tw/ [34] Ken Berringer,“馬達控制應用的微控制器選擇”, Silicon Laboratories Inc.http://www.silabs.com/mcu [35] MAXIM, http://www.maxim-ic.com/ [36] http://www.opteq.nl/Shop/index.php?action=home&lang=NL [37] 林容益，“DSP 數位化機電控制 TMS320 F281X 系統” [38] TMS320x2833x, 2823x Enhanced Pulse Width Modulator (ePWM) Reference G | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/58965 | - |
| dc.description.abstract | 現今隨著高科技產業的蓬勃發展，對於精密定位平台達成高精度、高速度等性能的要求日益升高，精密定位技術成為眾多科公司研發投入的目標之一。
對此，本論文旨在探討針新穎的單層雙軸精密定位平台的控制策略。為解決二維平面運動在同一層之中所具有的機構耦合問題，研究可行的控制架構，並以數位訊號處理器實現嵌入式系統控制。 本論文研究了一般能達成單軸同步運動的控制理論，探討其中最適用於本論文所研究之平台的控制方式。將控制理論應用於本系統的過程之中，首先應用於一維運動的單軸雙平行馬達定位控制，驗證控制理論於本系統的可行性，再實現二維運動的雙軸雙平行馬達於單層的定位控制。最後根據本新穎機構的特性加以精進控制策略，有效達到良好的控制系統穩定性，使控制性能更臻於完善。 | zh_TW |
| dc.description.abstract | The requirement for accuracy and velocity of precision positioning stage are increasing with the thriving high-tech industry. The precision-positioning approaches are becoming one of the techniques what various high-tech companies are investing to vigorously.
Therefore, the research aims at exploring a control strategy for a novel single-deck, dual-axis precision-positioning stage. To resolve the problem to mechanical coupling in the single deck where two-dimension motion occurs, the research studies for a feasible control structure, and realizes the embedded system control with digital signal processor. The research studies for a general theory of single-axis synchronized motion control and explores the most suitable method for the positioning stage. Firstly, in the progress of implementing the control system, the research utilizes the controller in one-dimension motion system and confirms the feasibility of control theory for the system. Secondly, the research implements the positioning control in two-dimension motion system of single-deck structure. In the end, the research ameliorates the control strategy according to the property of novel mechanism, achieves the great stability of control system, and perfects the control performance eventually. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-16T08:41:31Z (GMT). No. of bitstreams: 1 ntu-102-R99522808-1.pdf: 4435956 bytes, checksum: eb75ad85f6980e8edfb844a7e9a88621 (MD5) Previous issue date: 2013 | en |
| dc.description.tableofcontents | 目錄
致謝 .i 摘要 .iii ABSTRACT .v 目錄 .vii 圖目錄 .xi 表目錄 .xvii 第 1 章 導論 .1 1.1 研究動機 .1 1.2 文獻回顧 .2 1.3 論文貢獻 .6 1.4 論文架構 .7 第 2 章 線性永磁同步馬達 .9 2.1 同步馬達原理 .9 2.2 線性馬達介紹 .12 2.3 線性永磁同步馬達 .15 2.3.1 線性永磁同步馬達介紹 .15 2.3.2 線性永磁同步馬達之數學模型 .16 第 3 章 控制器理論 .27 3.1 同步運動控制 .27 3.1.1 同步主端命令控制 .27 3.1.2 一般主從運動控制 .28 3.1.3 相對剛性運動控制 .30 3.2 PID 與PDF 控制 .31 3.2.1 PID 控制 .31 3.2.2 PDF 控制 .33 第 4 章 硬體架構與軟體規劃 .35 4.1 實驗系統介紹 .35 4.2 硬體架構 .37 4.2.1 平面運動平台 .37 4.2.2 數位訊號處理器 .41 4.2.3 電流放大器 .44 4.2.4 電壓偏移及放大倍率電路 .45 4.2.5 位移感測器 .46 4.2.6 數位類比轉換晶片 .47 4.3 軟體規劃 .49 4.3.1 訊號輸出程式設計 .49 4.3.2 訊號回授程式設計 .56 4.3.3 程式流程 .57 第 5 章 實驗結果與討論 .59 5.1 平面運動平台特性實驗 .59 5.1.1 同軸平行線性馬達之對稱性 .60 5.1.2 平面運動平台之頻率響應 .66 5.1.3 線性馬達之開迴路試驗 .70 5.2 單軸平行馬達控制器設計實驗 .71 5.2.1 單軸PDF 控制器實驗結果 .72 5.2.2 單軸平行馬達控制實驗結果 .74 5.3 雙軸雙平行馬達控制器設計實驗 .77 5.3.1 雙軸雙平行馬達機構耦合之影響 .77 5.3.2 雙軸雙平行馬達控制策略 .77 5.3.3 雙軸雙平行馬達控制實驗結果 .79 5.3.4 定位控制實驗結果 .87 第 6 章 結論與未來展望 .89 6.1 結論 .89 6.2 未來展望 .90 參考文獻 .91 | |
| dc.language.iso | zh-TW | |
| dc.subject | 同步運動控制 | zh_TW |
| dc.subject | 線性永磁同步馬達 | zh_TW |
| dc.subject | 單層雙軸定位平台 | zh_TW |
| dc.subject | 嵌入式系統 | zh_TW |
| dc.subject | embedded system | en |
| dc.subject | single-deck-dual-axis positioning stage | en |
| dc.subject | permanent magnet linear synchronous motor | en |
| dc.subject | synchronous motion control | en |
| dc.title | 以嵌入式系統控制單層雙軸定位平台之系統控制設計 | zh_TW |
| dc.title | Development of an Embedded Control System in a Single-Deck, Dual-Axis Precision Positioning Stage | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 101-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 絲國一,鍾添東 | |
| dc.subject.keyword | 單層雙軸定位平台,嵌入式系統,線性永磁同步馬達,同步運動控制, | zh_TW |
| dc.subject.keyword | single-deck-dual-axis positioning stage,embedded system,permanent magnet linear synchronous motor,synchronous motion control, | en |
| dc.relation.page | 94 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2013-09-09 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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