Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/35626
標題: 爬升機構之設計與升降速度控制系統之研究
A Study on Climbing Mechanism Design and Lifting Velocity Control System
作者: 陳名豊
Chen, Ming-Li
關鍵字: climbing mechanism design
爬升機構設計
system identification
speed control
系統識別
速度控制
出版社: 生物產業機電工程學系所
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摘要: In order to accurately measure the storage in the granary, the measuring instrument has to be in the position high above the top of packed paddy while in operation. Therefore, the measuring instrument needs to set on the platform, using climbing mechanism to carry it up. After the measuring instrument has collected the necessary spatial coordinates of the profile of packed paddy, the storage can be estimated. Since the instrument is expensive and delicate, the climbing mechanism has to carry the instrument more safely and more stably. In the market, the available climbing mechanisms do not fulfill our requirements in regard to lift, mobility and accommodation. Therefore, the first objective of this research is to design a climbing mechanism to meet the requirements for measurement. The measuring instrument with the climbing mechanism we had designed can efficiently collect coordinate data and precisely estimate the volume of packed paddy. The velocity of lifting during carrying measuring instruments may cause some damage to the instrument. This may further lead to incorrect measurement. Therefore, the second objective of this study is to devise a velocity control strategy for this climbing mechanism. The speed of lifting cable can be maintained according to the setting speed in lifting operation. Using system identification methodology we had set up the motion model of this climbing mechanism, and then written a graphical program with LabVIEW software to control the lifting velocity. According to the experimental results, applying the lifting speed control strategy with different carrying loads, the system could track the setting speed in an average error of 0.0014m/s. The results were quite satisfactory. This also showed the application of system identification on our model set up was appropriate. The system identification approach can be used in modeling a complex system such as our climbing mechanism.
為能夠精確的量測公糧穀堆體積,需將量測儀器裝載在爬升機構,利用爬升機構升降功能搭配量測儀器收集穀堆外觀之空間座標點,進而換算體積完成公糧體積監控。升降設備須仰賴爬升機構,量測儀器大多貴重,爬升機構的穩定性與結構安全在量測穀堆時是相當重要。在市面上的升降機構高度、機動性、便利性,皆不符目前穀堆量測之需求,因此本研究設計一爬升機構符合量測時所需之條件,以利完成準確座標數據之收集,進而精密估算公糧穀堆之體積。 貴重的量測儀器安裝於升降機構上,在爬升運送過程中鋼索收捲時會產生升降速度不一致,導致量測儀器容易毀損與數據採集不準確的情形發生。因此本研究設計一控制策略,使鋼索收捲時能依目標速度做升降之動作。利用系統識別推估此爬升機構之運動模型,進而利用LabVIEW圖控軟體撰寫控制程式,以完成本研究。 此機構在速度控制策略下,裝載不同之負載,都能追逐著所設定之目標速度,平均速度誤差為0.0014 。應用系統識別推估其模型所得之結果是相當符合預期,此方法有助於複雜系統之模型推估。
URI: http://hdl.handle.net/11455/35626
其他識別: U0005-1608201017090400
文章連結: http://www.airitilibrary.com/Publication/alDetailedMesh1?DocID=U0005-1608201017090400
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