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| 研究生： |
王錦義 JIN-YI Wang |
|---|---|
| 論文名稱： |
滑動模態控制在氣電複合式平台之應用 Sliding Mode Control Applied in the Hybrid Electro-Pneumatic Platform |
| 指導教授： |
王英才
Ying-Tsai Wang |
| 口試委員: |
黃嘉和
C. H. Huang 江茂雄 Mao-Hsiung Chiang |
| 學位類別： |
碩士 Master |
| 系所名稱： |
工程學院 - 機械工程系 Department of Mechanical Engineering |
| 論文出版年： | 2005 |
| 畢業學年度： | 93 |
| 語文別： | 中文 |
| 論文頁數： | 49 |
| 中文關鍵詞： | 模糊控制 、滑動控制 |
| 外文關鍵詞： | Fuzzy, sliding |
| 相關次數： | 點閱：285 下載：4 |
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摘 要
本文以滑動模態控制與模糊控制應用於平面定位及軌跡追蹤之氣電複合控制系統，此系統之機構係由伺服馬達控制旋轉運動與伺服氣壓缸控制線性運動所組成。
定位控制中分別討論馬達及氣壓缸個別的定位能力，軌跡追蹤控制除了探討馬達及氣壓缸個別在斜坡響應及正弦波響應之追蹤能力，並進一步討論整合系統之軌跡追蹤之性能。
Abstract
This thesis applies sliding mode control and fuzzy control algorithms in the position and trace control of a hybrid electro-pneumatic control system. Its mechanism is mainly composed of a rotationary DC servomotor and a linear servo-control pneumatic actuator.
In the position control, the performance of both DC servomotor and servo-control pneumatic actuator are discussed individually. Their experiments include step、ramp and sinusoidal commands. Then, the specified trace commands are also applied evaluate its tracking performance.
參考文獻
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[2]B. W. McDonell and J.E. Bobrow, “Adaptive Tracking Control of an Air Powered Robot Actuator”, Trans. of the ASME, Journal of Dynamic Systems, Measurement and Control, Vol.115, No.3, pp.427-433, Sept. 1993.
[3]J. Tang and G. Walker, “Variable Structure Control of a Pneumatic Actuator”, Trans. of the ASME. Journal of Dynamic Systems, Measurement and Control, Vol.117, No.1, pp.88-92, March 1995.
[4]J. Song and Y. Ishida,“A Robust Sliding Mode Control for Pneumatic Servo System”, International Journal of Engineering Science, Vol.35, No.8, pp.711-723, June 1997.
[5]B. W. Surgenor and N. D. Vaughan,“Continuous Sliding Mode Control of a Pneumatic Actuator”, Trans. of the ASME, Journal of Dynamic Systems, Measurement and Control, Vol.119, No.3, pp.578-581, Sept. 1997.
[6]S. Shibata, M.S. Ben-lamine, K. Toyohara and A. Shimizu,“Fuzzy Control of Vertical Pneumatic Servo System Using Virtual Reference”, JSME International Journal Series C, Dynamic Control for Robotics Design and Manufacturing, Vol.42, No.1, pp.79-84, 1999.
[7]V. I. Utkin, J. Guldner and J. Shi, ”Sliding Mode Control in Electromechanical Systems ”, Taylor & Francis,1999.
[8]Mamdani, E. H., “Application of Fuzzy Algorithms for Control of Simple Dynamic Plant,” Proc. IEE, Vol. 121, No. 12, pp. 1585-1588,1974
[9]V. I. Utkin, “Sliding Modes in Control Optimization”,Springer-Verlag Berlin, Heidelberg 1992.
[10]夏邦傑 ,“DSP Based 可變結構控制在氣壓平台之傾斜角控制應用”, 國立台灣科技大學機械工程技術研究所碩士學位論文,2004.
[11]張銘崑 ,“解耦合自組織模糊控制在雙軸氣壓系統的應用”, 國立台灣科技大學機械工程技術研究所博士學位論文,1999.
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