請用此 Handle URI 來引用此文件: http://hdl.handle.net/11455/1732
標題: 基於偏微分方程式及被動原理之平面二桿撓性機械臂穩定回授控制設計與實現
PDE Model-based Stable Control Design and Implementation for a Planar Two-link Flexible Manipulator via Passivity Principle
作者: 黃光立
Huang, Kuang-Li
關鍵字: a Planar Two-link Flexible Manipulator
平面二桿撓性機械臂
出版社: 機械工程學系所
引用: [1] F. Matsuno, T. Asano, and Y. Sakawa, “Modeling and Quasi-Static Hybrid Position/Force Control of Constrained Planar Two-Link Flexible Manipulator,” IEEE Trans. on Robotics and Automation, Vol. 10, No. 3, pp.287-297, June 1994. [2] 潘建忠, “平面二桿撓性臂之解析動力學模式與控制設計,” 國立中興大學機械工程學系碩士論文, 2005. [3] 崔至誠, “允許大變形之兩桿撓性機械臂的近似最小時間控制,” 國立台灣大學機械工程學系碩士論文,1999. [4] 楊偉成, “黏貼壓電材料剛性/撓性兩桿機械臂之端點軌跡追蹤控制,” 國立台灣大學機械工程學系碩士論文,2000. [5] 孫允平, “平面雙桿撓性臂應用奇異擾動法之複合回授控制,” 國立中山大學機械工程學系碩士論文, 1994. [6] 方清煙, “二連桿撓性機械臂之模糊控制,” 國立中興大學機械工程學系碩士論文, 1996. [7] N. Jalili, and D. M. Dawson, “A Fresh Insight into the Microcantilever-Sample interaction Problem in Non-Contact Atomic Force Microscopy,” Journal of Dynamic Systems, Measurement, and Control, Vol. 126, pp.327-335, June 2004. [8] 吳大偉, “單桿撓性機械臂之適應模糊滑動模式控制器,” 國立台灣科技大學機械工程學系碩士論文, 1997. [9] 方仁武, “兩桿撓性臂的幾何精確動態模式及含應變率之回授線性化控制,” 國立台灣大學機械工程學系碩士論文, 1996. [10] 陳仕芳, “受拘束撓性機械臂分佈參數模式之運動與接觸力控制,” 國立台灣大學機械工程學系碩士論文, 2000. [11] M. Krstic, I. Kanellakopoulos and P. Kokotovic, Nonlinear and Adaptive Control Design, Wiley, New York, 1995. [12] J.-J. E. Slotine and W. Li, Applied Nonlinear Control, Prentice-Hall, Englewood Cliffs, N.J., 1991. [13] H. K. Khalil, Nonlinear Systems, 3rd ed., Prentice-Hall, Upper Saddle River, N.J., 2002. [14] X. Zhang, W. Xu, S. S. Nair and V. Chellaboina, “PDE Modeling and Control of a Flexible Two-Link Manipulator,” IEEE Trans. Contr. Syst. Technol., Vol. 13, No. 2, pp.301-312, March 2005. [15] R. J. Schilling and S. L. Harris, Fundamentals of Digital Signal Processing using MATLAB, Clarkson University, Potsdam, N.Y., 2005. [16] J. M. Gere and S. P. Timoshenko, Mechanics of Materials, 4th ed, PWS, Boston, 1999. [17] L. Sciavicco and B. Siciliano, Modeling and Control of Robot Manipulators, McGraw-Hill, 1997. [18] 陳柏宏, 電磁干擾與防止對策, 文笙書局, 民86. [19] 卓聖鵬, EMC 的基礎和實踐, 全華科技圖書, 民87.
摘要: 本論文根據二桿撓性機械臂系統的自由體圖,推導較為精簡的解析動力學模式,於選定適當的Lyapunov候選函數後,利用Lyapunov穩定理論推導較易實現的穩定回授控制律,以達成二桿撓性機械臂之軌跡追蹤與主動式抑振的控制目標。最後並以自製之二桿撓性臂,使用應變規量取控制實現所需之彎矩和剪力回授訊號,由dSPACE 1103單板控制器進行控制策略之實現研究,以驗證所提控制策略之有效性。
In this thesis, we first derived a simplified exact dynamic model for a planar two-link flexible manipulator using system's free body diagram's. Considering this simplified exact dynamic model, a proper Lyapunov function candidate is selected. Then a stable controller, including bending moment and shear force feedback, is derived using Lyapunov stability theory. The bending moment and shear force signals for of feedback control are obtained using strain gages. Finally, controller implementation studies using a dSPACE DS1103 single-board controller are presented to illustrate the effectiveness of the suggested control strategy.
URI: http://hdl.handle.net/11455/1732
其他識別: U0005-2707200618371200
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-2707200618371200
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