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研究生： 蓋震宇
Chen-yu Kai
論文名稱： 非線性機械系統之適應控制研究
Adaptive Control of Nonlinear Mechanical Systems
指導教授： 黃安橋
An-Chyau Huang
口試委員: 薛文証
none
黃緒哲
none
黃衍任
none
陳立文
none
蕭俊祥
none
學位類別： 博士
Doctor
系所名稱： 工程學院 - 機械工程系
Department of Mechanical Engineering
論文出版年： 2013
畢業學年度： 101
語文別： 中文
論文頁數： 127
中文關鍵詞： 主動式減振 、適應控制 、無刷直流馬達 、線性化 、機械臂
外文關鍵詞： robot manipulators, adaptive control, active vibration absorber, brushless DC motors, linearization
相關次數： 點閱：295  下載：23 
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  •  上一筆

    • 本論文對幾類非線性機械系統提出適應控制器設計之方法。首先，針對機械臂適應控制理論，提出新設計架構。可以免除迴歸矩陣的計算，不用加速度回授，也不須借助Slotine與Li的方法，就可以設計適應控制器。由於此理論結構簡單，可輕易將控制器擴展。因此本文亦將此架構擴展至機械臂阻抗控制與最佳控制問題上。接著，針對機械振動現象，提出主動式減振器。此方法克服了一般減振器只適用於單頻外擾的限制，可以有效的隔離變頻外擾。第三部分，針對電機機械中常見的無刷直流馬達，設計適應控制器。通常控制器設計時為了降低困難度，大多只考慮降階後的模型。為了獲得更好的性能，本文將考慮完整的系統動態，以非降階模型設計控制器。最後，針對機械元件中常出現的rate-dependent非線性特性；其輸入輸出的對應關係隨著系統的輸入頻率不同而改變的非線性特性，本文提出一種新的補償方法，使用回授架構補償非線性特性，將輸入輸出關係線性化。本文所提出的適應控制器，都將以嚴格的數學證明，確保閉迴路穩定性以及內部訊號有界。並以電腦模擬或實驗驗證控制器之性能與可行性。

    This dissertation proposes several adaptive control design schemes for special classes of nonlinear mechanical systems. In the first part a new paradigm is proposed to construct a regressor-free adaptive controller for robot manipulators without Slotine and Li’s modification. Similar to the traditional adaptive strategies for robot manipulators, the regressor-free adaptive controller design also requires applying Slotine and Li’s modification to avoid the feedback of joint accelerations. In the new paradigm, the joint acceleration vector is lumped into an unknown time-varying function and the function approximation technique is utilized to cover its effect; therefore, the new paradigm needs neither the regressor matrix nor acceleration feedback. Since the new paradigm can easily be used to design the adaptive controller, it is obviously applicable to other control schemes. Therefore, the same paradigm is going to be applied to compliant motion and optimal control problem. In the second part of this dissertation, vibration suppression control for mechanical systems is considered. Conventional vibration absorber is valid when the external excitation frequency falls into a neighborhood of a specific value. It is not feasible for vibration suppression applications subject to frequency-varying excitations. In this dissertation, an adaptive controller is proposed to learn the disturbance spectrum in real-time so that output vibration suppression can be achieved regardless of the variations in the excitation frequency. In the third part, we consider adaptive controller of brushless DC motors without model reduction. Almost all controllers designed for BLDCM are based on reduced models where a first order dynamics is regarded as the internal model. This way a second order dynamics is considered with considerable simplification in the controller design. Since the reduced model may not reflect the entire dynamics of the motor, some deterioration in the control outcome can be observed. To improve the performance, this dissertation considers the adaptive control of a BLDCM without using reduced model. The last part of this dissertation proposes a new linearization algorithm for rate-dependent nonlinearities. The rate-dependent nonlinearity presents different dynamics in response to variations of the input signal frequency. Both the Jacobian linearization and feedback linearization strategies cannot give proper performance for systems with these nonlinearities. The new linearization algorithm is proposed for rate-dependent nonlinearities where a Fourier series based function approximator in feedback configuration is designed to cover the effect of the nonlinearity such that a desired linearity between the input and output signals can be realized. The proposed strategy is so general that the nonlinearity is allowed to be uncertain. All of these adaptive control schemes, the Lyapunov-like analysis is used to verify the closed loop stability and ensure boundedness of internal signals. Simulation and experimental cases are given to show efficacy of the proposed schemes.

    中文摘要........................................................................................................................ I Abstract..........................................................................................................................II 誌謝..............................................................................................................................III 目錄..............................................................................................................................IV 符號說明....................................................................................................................VII 圖片索引.......................................................................................................................X 表格索引...................................................................................................................XIII 第一章 緒論..................................................................................................................1 1.1 機械臂適應控制之新設計架構研究.............................................................2 1.2 用於變動性外力之主動式減振器設計.........................................................2 1.3 非降階無刷直流馬達之適應控制器設計.....................................................5 1.4 適用於rate-dependent非線性特性之線性化補償器設計...........................6 1.5 論文大綱.........................................................................................................6 第二章 機械臂適應控制之新設計架構研究..............................................................7 2.1 機械臂動態模型.............................................................................................9 2.2 傳統機械臂適應控制...................................................................................13 2.2.1 傳統機械臂適應控制........................................................................13 2.2.2 無迴歸矩陣適應控制器設計............................................................17 2.3 新控制器架構...............................................................................................18 2.3.1 控制器設計........................................................................................18 2.3.2 近似誤差對系統穩定性之影響........................................................20 2.4 電腦模擬與實驗結果...................................................................................22 2.4.1 二軸機械臂實驗架構........................................................................22 2.4.2 二軸機械臂電腦模擬結果................................................................23 2.4.3 二軸機械臂實驗結果........................................................................27 2.4.4 六軸機械臂電腦模擬結果................................................................30 第三章 機械臂適應阻抗控制之新設計與驗證........................................................35 3.1 機械臂適應阻抗控制回顧...........................................................................36 3.1.1 傳統機械臂適應阻抗控制................................................................36 3.1.2 無迴歸矩陣適應阻抗控制器設計....................................................39 3.2 控制器設計...................................................................................................41 3.3 電腦模擬與實驗結果...................................................................................43 3.3.1實驗架構.............................................................................................43 3.3.2電腦模擬結果.....................................................................................44 3.3.3實驗結果.............................................................................................48 第四章 機械臂適應控制之LQ最佳化設計.............................................................52 4.1 控制器設計與穩定性分析...........................................................................53 4.2 實驗結果.......................................................................................................55 第五章 用於變動性外力之主動式減振器設計........................................................61 5.1 減振器設計回顧...........................................................................................61 5.1.1 單自由度機械系統............................................................................61 5.1.2 被動減振(Passive).............................................................................62 5.1.3 半主動減振(Semi-Active).................................................................63 5.1.4 主動減振(Active) ..............................................................................64 5.2 主動式減振系統動態模型...........................................................................66 5.2.1 數學模型............................................................................................66 5.2.2 欠軀動系統........................................................................................66 5.2.3 Olfati轉換..........................................................................................67 5.3 控制器設計...................................................................................................68 5.3.1 backstepping-like適應控制器設計...................................................68 5.3.2 穩態性能分析....................................................................................70 5.4 電腦模擬結果...............................................................................................71 5.4.1 振動平臺模型....................................................................................71 5.4.2 電腦模擬結果....................................................................................72 第六章 非降階無刷直流馬達之適應控制器設計....................................................82 6.1 無刷直流馬達數學模型...............................................................................84 6.2 控制器設計...................................................................................................88 6.3 電腦模擬.......................................................................................................90 第七章 適用於Rate-Dependent非線性特性之線性化補償器設計........................98 7.1 補償器設計與應用.....................................................................................100 7.1.1 補償器設計......................................................................................100 7.1.2 補償器在控制系統中的應用..........................................................102 7.2 實驗結果.....................................................................................................103 7.2.1 電磁系統與實驗平臺......................................................................103 7.2.2 rate-dependent磁滯現象.................................................................105 7.2.3 磁滯現象補償..................................................................................105 7.2.4 補償器在控制器統中的應用..........................................................107 第八章 結論..............................................................................................................111 參考文獻....................................................................................................................113 附錄A........................................................................................................................123

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