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| 研究生： |
廖晟宏 Cheng-hong Liao |
|---|---|
| 論文名稱： |
機械伺服系統適應動態修改之理論與實作 Adaptive Dynamics Modification of Mechanical Servo Systems: Theory and Experiment |
| 指導教授： |
黃安橋
An-chyau Huang |
| 口試委員: |
陳亮光
Liang-kuang Chen 李錟鋒 Tan-feng Lee |
| 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： | 2014 |
| 畢業學年度： | 102 |
| 語文別： | 中文 |
| 論文頁數： | 48 |
| 中文關鍵詞： | 伺服系統 、動態修改 、函數近似法 |
| 外文關鍵詞： | Servo system, Dynamics modification, Function approximation technique |
| 相關次數： | 點閱：213 下載：6 |
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本文提出一個修改機械系統動態行為的方法，使其閉迴路輸出趨近於目標動態行為。此目標動態行為可以與原系統有很大的差異，使得與該系統互動的操作者，能有特別的感受。由於原系統可能含有未知項，所以本文以函數近似法來估測之。因為要與操作者互動，所以免不了有接觸力的問題，本文亦以函數近似法來近似之，以免除昂貴力量感測器的安裝。另外，在免除力量感測的同時，極可能造成加速度迴授的需求，本文亦在控制器設計中，巧妙的予以規避。在免除了上述諸項需求後，本文藉由Lyapunov穩定度理論以及Barbalat’s lemma的嚴謹數學證明，來確保閉迴路系統的穩定性。最後，本文以一維機械旋轉系統為範例，進行實驗驗證，以證明所提出控制器的有效性。
This thesis proposes a methodology for dynamics modification of a mechanical system so that the closed loop behavior can be regulated to achieve a target dynamics. This target dynamic is different from the one of the original system to facilitate proper interaction with the operator. Since the original system may have unknown parameters and external disturbances, the function approximation technique is employed to estimate their effects. During the interaction with the operator, the contact force has to be properly treated. To get rid of the costly force sensors, an approximator is designed to have stable on-line estimation. In addition, there is no need for the acceleration feedback in the proposed design. The Lyapunov-like technique and Barbalat’s lemma are utilized to prove closed-loop stability mathematically. A one-dimensional rotation mechanical system is built to justify the feasibility of the proposed strategy.
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