Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/2301
DC FieldValueLanguage
dc.contributor.advisor林麗章zh_TW
dc.contributor.advisorLih Chang Linen_US
dc.contributor.author賴如昌zh_TW
dc.contributor.authorLai, Ju Changen_US
dc.date2001zh_TW
dc.date.accessioned2014-06-05T11:42:57Z-
dc.date.available2014-06-05T11:42:57Z-
dc.identifier.urihttp://hdl.handle.net/11455/2301-
dc.description.abstract摘 要 本研究針對線性馬達驅動之運動平台系統,提出具摩擦力及干擾補償之一穩定適應模糊控制律,能達成平台之精密定位與軌跡追蹤控制目的。整體穩定控制系統之設計,使用Lyapunov理論。於設計過程中同時考慮摩擦力及干擾力之線上補償,其中摩擦力之即時辨認方法,乃依據模糊建模方式推導,以TSK模糊模式建立摩擦力之估測模型,並將其化為後件部未知參數之線性表示式,再據以推導參數調適律。而干擾補償控制律之設計,則先以切換控制方式推導,再以飽和函數修正為較平順之補償律。最後並以電腦進行模擬,驗證所提控制策略之有效性。zh_TW
dc.description.abstractAbstract This thesis considers the control of a linear drive system with friction and disturbance compensation. A stable adaptive controller integrated with fuzzy model-based friction estimation and switching control-based disturbance compensation is proposed via Lyapunov stability theory. A TSK fuzzy model with local linear friction models is suggested for real-time estimation of its consequent local parameters. The parameters update law is derived based on linear parameterization. In order to compensate for the effects resulting from estimation error and disturbance, a robust switching law is incorporated in the overall stable adaptive control system. Extensive computer simulation results show that the proposed stable adaptive fuzzy control system has very good performances, and is potential for precision positioning and trajectory tracking control of linear drive systems.en_US
dc.description.tableofcontents目 錄 中 文 摘 要 ························Ⅰ 英 文 摘 要 ························Ⅱ 誌 謝 ···························Ⅲ 目 錄 ···························Ⅳ 圖 表 目 錄 ························Ⅵ 符 號 說 明 ························Ⅹ 第一章 緒 論 1.1研究動機·····················1 1.2文獻回顧·····················2 1.3本文架構·····················4 第二章 摩擦理論及模糊摩擦模式 2.1摩擦現象·····················5 2.2摩擦之數學模式··················8 2.3模糊摩擦力之模糊建模 ··············12 第三章 線性驅動系統之穩定適應模糊控制器設計 3.1系統描述 ····················16 3.2摩擦力模糊估測器設計 ··············19 3.3穩定適應性模糊控制策略 ·············24 第四章 控制系統模擬與結果討論 4.1系統及控制參數 ·················37 4.2測試控制性能之命令軌跡規劃 ···········42 4.3模擬結果與討論 4.3.1使用含切換律之適應控制模擬結果 ········45 4.3.2使用飽和函數之控制律改良模擬結果 ·······59 4.3.3結果綜合討論 ·········· ······126 第五章 結論與建議 ·····················130 參 考 文 獻 ························132 簡 歷 ···························135 圖 表 目 錄 圖2.1 線性運動系統······················5 圖2.2 古典摩擦力模式·····················5 圖2.3 絨毛抵觸模型······················8 圖2.4 摩擦力對速度之曲線模式·················12 圖3.1 線性運動系統······················18 圖3.2 摩擦力模糊估測器之基本架構···············19 圖3.3 以九個模糊集合進行變數空間之模糊分割··········20 圖3.4 三角形隸屬函數·····················21 圖3.5 串聯或串接補償構型···················25 圖4.1 較小的干擾力曲線 ···················40 圖4.2 較大的干擾力曲線····················40 圖4.3 模糊估測器輸入變數空間之模糊分割············42 圖4.4 軌跡A(單位:mm) ····················43 圖4.5 軌跡B(單位:mm) ····················43 圖4.6 軌跡C(單位:mm) ····················44 圖4.7 軌跡D(單位:mm) ····················44 圖4.8 命令軌跡A,平台具摩擦力及大干擾力時之控制結果 ·····47 圖4.9 命令軌跡A,平台具摩擦力及小干擾力時之控制結果· ····51 圖4.10 命令軌跡A,平台具摩擦力,但不具任何干擾力時之 控制結果·······················55 圖4.11 =0.001時,使用命令軌跡A,平台具摩擦力及大干擾 力時之控制結果···················63 圖4.12 =0.001時,使用命令軌跡A,平台具摩擦力及小干擾 力時之控制結果···················72 圖4.13 =0.001時,使用命令軌跡A,平台具摩擦力,但無 任何干擾力之控制結果················81 圖4.14 =0.001時,使用命令軌跡B,平台具摩擦力及大干擾 力時之控制結果···················90 圖4.15 =0.001時,使用命令軌跡B,平台具摩擦力及小干擾 力時之控制結果···················93 圖4.16 =0.001時,使用命令軌跡B,平台具摩擦力,但無 任何干擾力之控制結果················96 圖4.17 =0.1時,使用命令軌跡B,平台具摩擦力及大干擾力 時之控制結果····················99 圖4.18 =0.1時,使用命令軌跡B,平台具摩擦力及小干擾力 之控制結果·····················102 圖4.19 =0.1時,使用命令軌跡B,平台具摩擦力,但無任何 干擾力之控制結果···················105 圖4.20 =0.1時,使用命令軌跡C,平台具摩擦力及大干擾力 之控制結果·····················108 圖4.21 =0.1時,使用命令軌跡C,平台具摩擦力及小干擾力 時之控制結果···················111 圖4.22 =0.1時,使用命令軌跡C,平台具摩擦力,但無任何 干擾力之控制結果···················114 圖4.23 =0.1時,使用命令軌跡D,平台具摩擦力及大干擾力 時之控制結果···················117 圖4.24 =0.1時,使用命令軌跡D,平台具摩擦力及小干擾力 時之控制結果···················120 圖4.25 =0.1時,使用命令軌跡D,平台具摩擦力,但無任何 干擾力之控制結果···················123 圖4.26 控制力短暫震盪現象之顯示圖··············127zh_TW
dc.language.isoen_USzh_TW
dc.publisher機械工程學系zh_TW
dc.subjectstable adaptive controlleren_US
dc.subject穩定適應控制zh_TW
dc.subjectlocal linear friction modelsen_US
dc.subjectswitching controlen_US
dc.subjectfuzzy modelen_US
dc.subjectreal-time estimationen_US
dc.subjectlinear parameterizationen_US
dc.subjectadaptive fuzzy controlen_US
dc.subject局部線性摩擦模式zh_TW
dc.subject切換控制zh_TW
dc.subject模糊模型zh_TW
dc.subject即時辨認方法zh_TW
dc.subject線性參數化zh_TW
dc.subject適應模糊控制zh_TW
dc.title具摩擦及干擾補償之線性馬達穩定適應模糊控制zh_TW
dc.titleStable Adaptive Fuzzy Control for Linear Drive Systems with Friction and Disturbance Compensationen_US
dc.typeThesis and Dissertationzh_TW
Appears in Collections:機械工程學系所
文件中的檔案:

取得全文請前往華藝線上圖書館



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.