雙驅動系統疊代式參考輸入成形控制器之研究｜國立臺灣科技大學博碩士論文系統

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研究生：	吳晨瑋 Chen-Wei Wu
論文名稱：	雙驅動系統疊代式參考輸入成形控制器之研究 Dual Actuator System Iterative Reference Input Shaping Controller Design
指導教授：	張以全 Peter I-Tsyuen Chang
口試委員:	林紀穎 Chi-Ying Lin 黃安橋 An-Chyau Huang
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：	2016
畢業學年度：	104
語文別：	英文
論文頁數：	51
中文關鍵詞：	雙驅動系統、獨立通道設計、輸入成形、追跡、飽和問題
外文關鍵詞：	Dual Stage Actuator, Individual Channel Design, ICD, Input shaping, Saturation problem
相關次數：	點閱：553 下載：10
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本論文主要探討以疊代程序做參考輸入之輸入成形控制設計並應用於雙輸入雙輸出(Double-Input-Double-Output, DIDO)系統，特別是針對雙驅動控制系統(DSA control system)以達到長行程且高精度之定位要求。本文首先對雙驅動系統模型做數學推導及模型參數討論，以此作為回授控制器設計之依據並利用獨立通道設計方法(Individual Channel Desgin, ICD)設計回授控制器以達到期望之追跡表現。然而在系統控制的過程中由於兩驅動器之互相干擾及不同的響應特性可能造成「飽和問題」(saturation problem)，本文以疊代方法對低剛性雙驅動定位系統之參考輸入做輸入成形設計，減少了系統移動過程中兩驅動器之間最大相對距離以避免飽和產生的機會且同時滿足追跡之要求，文末以模擬結果驗證本文所提出之設計方法並提供結論與未來研究方向以供參考。

This thesis outlines and demonstrates the efficacy in designing an iterative reference input shaping controller, applied to a class of Double-Input-Double-Output (DIDO) system, specifically aimed to provide long-stroke precision positioning for Dual Stage Actuator (DSA) systems. Due to the coupling effect from the interaction between the two actuators. This thesis first provides a full analysis to the characteristic of this class of DIDO system, Then secondly provide a relative distance limiting procedure that iteratively modifies the reference input provided to the DSA system. In order to individually design feedback controller for the two actuators in the DSA system, connection and mass difference for the two actuators needs to be characterized, where desired tracking performance in positioning through the individual channel feedback control design is first investigated without full consideration. Furthermore, due to the coupling (disturbance) input to the DSA actuation, this thesis researched a iterative input shaping method, in order to utilize the previously designed feedback controller, but also restrict the relative distance of the two actuators. This work demonstrates the feasibility in providing an automatic tuning algorithm, that will provide a reference input keeping the two actuators in range, focused on a low-stiffness connection.

Abstract in Chinese
Abstract in English
Acknowledgements
Contents
List of Figures
List of Tables
List of Abbreviations
1 Introduction
   1.1  Introduction on Dual-Stage Actuator
   1.2  Background
   1.3  Literature Review
2 DSA System Modeling
   2.1 Mathematical Model Derivation
   2.2 The Explanation of Transfer Functions
   2.3 DSA Parameter Analysis
   2.4 Poles and Zeros of DSA Model
3 Feedback Controller Design and Analysis
   3.1 Tolerance Feedback Control Scheme of DSA System
   3.2 Feedback Controller Design
         3.2.1 Individual Controller Design
         3.2.2 Analysis for Robustness of Control System
   3.3 Reference Inputs Modification
4 Simulation Results
   4.1  Control Plant for Design
   4.2  Feedback Controller Design
   4.3  Robustness of the Controlled DIDO System
   4.4  System Response without References Modification
   4.5  Relative Distance Minimization
   4.6  Another Simulation Example with Different Original Reference
5 Conclusion and Future Work
   5.1 Conclution
   5.2 Future Work
References
Appendix A: DSA model Derivation
Appendix B: Smith-McMillan Form

                                

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