Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/1763
標題: 以交流伺服馬達控制平板剛體定位之研究
Experimental Study on Positioning Control of Rigid Flat Panel with AC Servo Motor
作者: 銘, 陳 鴻
Chen, Hung-Ming
關鍵字: Servo motor;伺服馬達;X-θ table;PID control;Close loop control;X-θ平台;PID控制;閉迴路控制
出版社: 機械工程學系所
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摘要: 
本文係以實驗方法作定位控制,其研究目的是要使工件進入定位平台後可以達成快速且準確的定位。實驗架構是以一伺服馬達帶動導螺桿做為直線驅動裝置,同時,以另一伺服馬達直接帶動平台做為旋轉驅動的機構,利用雷射位移計搭配全閉迴路PID控制進行平台定位控制。主要內容為改變剛體中心不同的初始位置,探討剛體中心位置定位的優劣。研究結果顯示:
1、工件中心定位品質的優劣受到工件中心與馬達中心的水平與垂直距離、工件大小以及載重的影響,且工件中心僅以三次移動就可到達定位點。
2、修正的偏向角度隨著水平距離增大而減小,反之則增大;隨著垂直距離的增大而增大,反之則減小;隨者工件尺寸增大而減小,反之則而增大。
3、當滿足定位誤差時,工件四頂點誤差值會隨著水平距離增大而減小,反之則增大;隨著垂直距離增大而增大,反之則減小;隨著工件尺寸增大而減小,反之則增大。
4、在相同的工件中心與馬達中心的水平(Xr)與垂直(Yr)距離時,雖然初使偏向角度不同,最後都會收斂到某一特定角度。此角度隨著水平距離增大而減小,反之則增大;隨著垂直距離增大而增大,反之則減小。
5、當平台載重為1公斤時,除了在一開始長行程移動時會造成較大的振動外,而在短行程之內都沒有太大的影響。

The aim of present investigation is to efficiently control the accuracy of workpiece center. The linear motion in X direction is guided by a pair of parallel bolt screws fixed at both ends. Both the linear and the rotational motions are driven by two servo motors separately. A laser displacement sensor, coupled with PID fully close control loop, was employed for controlling the motion of the working table. The center positions of the workpiece are experimented for various initial workpiece center positions relative to the motor center.

The important findings are:

1.Horizontal and vertical distance between the centers of the motor and the workpiece, the size of workpiece and payload are the key parameters that affect significantly the positioning of the workpiece. In the present study, it takes only three steps to center the workpiece accurately.

2.The account of adjustable angular displacement of the workpiece reduces as the horizontal and vertical distance between the centers becomes large and small, respectively. It also decreases for the large size of workpiece.

3.When satisfying the required position criterion, the error of the vertex of the workpiece is small for large horizontal and/or small vertical distance between the centers.

4.For the same initial horizontal and vertical distance between the centers, the final biased angular displacement will reach a certain value. This value decreases as the horizontal distance increases or/and the vertical distance decreases.

5.When the payload weights 1 kilogram, large fluctuation occurs during the long-range movement at the beginning stage; however, the influence is insignificant in the short-range or the final stage positioning.
URI: http://hdl.handle.net/11455/1763
其他識別: U0005-2908200619210900
Appears in Collections:機械工程學系所

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