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標題: 單軸長行程奈米定位系統之研究
A Study on Long-Range Single-Axis Nanometer Positioning System
作者: 侯思吉
Wijaya, Martinus Tony
關鍵字: nanometer positioning;奈米定位;feeding mechanism;piezoelectric actuator;two-stage control;fuzzy control;feedback-feedforward control;進給機構;壓電致動器;二階段式控制;模糊控制;回授-前饋控制
出版社: 機械工程學系所
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Thesis, Department of Mechanical Engineering of National Chung Hsing University, Taichung, Taiwan, 2001. [17] Moon, Y. M., Trease, B. P., and Kota, S., “Design of Large Displacement Compliant Joints”, Proceeding of the 27th Biennial Mechanisms and Robotics Conference, Montreal, Canada, September 29 - October 3, 2002. [18] Zadeh, L. A., “Fuzzy Sets,” Information Control, vol. 8, pp.338-353, 1965. [19] Mamdani, E. H., “Applications of Fuzzy Algorithms for Control of Simple Dynamic Plants,” Proceedings of the IEE, vol. 121, pp. 1585-1588, 1974. [20] Takagi, T. and Sugeno, M., “Fuzzy Identification of Systems and Its Application to Modeling and Control,” IEEE Transactions on System, Man, and Cybernetics, Vol. 15, No. 1, pp. 116-132, January 1985. [21] Wang, L. X., A Course in Fuzzy Systems and Control, Prentice Hall, New Jersey, 1997. [22] Lee, C. 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本研究主要目的是要改善單軸定位系統之機構設計以及控制,使此定位平台具有行程100 mm之要求。定位平台是由線性滑軌、進給機構及三根堆疊式壓電致動器所組合而成。精密定位系統主要是利用壓電致動器驅動進給機構,使它產生週期性的圓周運動並利用摩擦方式來撥動滑軌之表面。藉由此連續進給的方式來達成長行程精密定位之目標。另外,研究中利用Current Reality Tree理論方法來針對楊[1]所設計之進給機構之核心問題,產生一個新的設計概念,以解決現存問題。


本研究利用TMS320F240 DSP單晶片控制面版配合控制法則來控制定位平台。從實驗結果可得,定位平台的行程可以超過90 mm,平台的最高速度為 5.8 mm/s,而平均速度為 1 mm/s。定位的穩態誤差峰對峰值小於20 nm;偏差量小於0.5 nm,以及振動幅度(1σ)小於7 nm。

This study is focusing on the improvement design and control of a long-range single-axis positioning system, which has a travel range of 100 mm. The positioning system was constructed by a linear guide, a feeding mechanism and three stacked piezoelectric actuators. The stacked piezoelectric actuators were used to drive the feeding mechanism with a circular movement, which will feed the linear guide by friction force. Through continuous feeding, an unlimited travel range positioning system can be achieved. A Current Reality Tree design methodology was used to create a new conceptual design and to solve the core problems embedded in the feeding mechanism system proposed by Yang [1].

For control system, two-stage control strategy was introduced for the positioning control, i.e. coarse motion control and fine motion control. At coarse motion stage, impact-drive motion combined with fuzzy control was used to accelerate the linear guide to approach the target position. At fine motion stage, stick-drive motion combined with classical feedback-feedforward control can provide a nanometer positioning accuracy.

The control algorithm was implemented on TMS320F240 DSP-based control board, and the experiment results show that the proposed feeding mechanism system with two-stage control strategy can achieve a travel range more than 90 mm with maximum velocity of 5.8 mm/s, average velocity 1 mm/s, steady state error is less than 20 nm, positioning bias is less than 0.5 nm and standard deviation is less than 7 nm.
其他識別: U0005-1707200615594300
Appears in Collections:機械工程學系所

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