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研究生： 鍾永利
Yuddy - Syaifudin
論文名稱： 微手掌的建模與控制器設計
Modeling and Controller Design of a Micro-Hand
指導教授： 劉添華
Tian-Hua Liu
口試委員: 許源浴
Yuan-Yih Hsu
廖聰明
Chang-Ming Liaw
林法正
Faa-Jeng Lin
劉益華
Yi-Hua Liu
學位類別： 碩士
Master
系所名稱： 電資學院 - 電機工程系
Department of Electrical Engineering
論文出版年： 2014
畢業學年度： 102
語文別： 英文
論文頁數： 109
中文關鍵詞： 微手掌 、微型永磁同步電動機 、建模 、双自由度比例-積分-微分控制器 、壓力控制
外文關鍵詞： micro-hand, micro-permanent magnet synchronous motor, modeling, two-degree-of-freedom PID controller, force controller
相關次數： 點閱：374  下載：3 
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    • 本文提出建模和控制器設計微手掌系統，一個五隻手指的微手掌系統。提出兩個新的運動學模型，並推導手指指尖的運動軌跡追蹤，各別稱為maximum angle model和differential angle model。每個手指，有四個關節，僅透過一個微永磁同步電動機來驅動腱機構。双自由度的比例-積分-微分控制器，用來獨立地和同時控制各微型永磁同步電動機。因此，每隻手指被獨立地控制，以控制手指移動位置。此外，手指的指尖有壓力感測器，透過使用兩種方法來控制。第一個是力傳輸信號的測量方法，第二個是q軸電流的測量方法。執行壓力的控制，以避免損壞抓取物。微手掌能精確地握住雞蛋、球、剃須膏、標記筆、瓶罐，和滑鼠。實驗結果證明双自由度的PID控制器的性能比PI控制器更好。

    This paper proposes the modeling and the controller design of a micro-hand, an under-actuated five fingered robot hand. Two new general kinematic models are proposed and used to derive the micro-hand fingertip trajectory, which are called the maximum angle model and differential angle model. Each finger, which is consisted of four joints, is driven only by a micro-permanent magnet synchronous motor with using tendon driven mechanism. The two-degree-of-freedom proportional-integral-derivative controller is used to control each micro-permanent magnet synchronous motor independently and simultaneously. Therefore, each micro-finger is controlled independently to define the micro-hand behavior. In addition, the contact force of each fingertip of the micro-hand is measured online and controlled by using the combination of two methods. The first one is the force sensor signal measurement method and the second one is the q-axis current measurement method. The force control is executed to avoid damaging the grasped object. The micro-hand can precisely hold an egg, a ball, a container of shaving cream, a marking pen, a can, and a computer mouse. Experimental results given to validate the theoretical analysis show that the two-degree-of-freedom PID controller performs better than the common PI controller.

    MASTER’S THESIS RECOMMENDATION FORM ii QUALIFICATION FORM BY MASTER’S DEGREE EXAMINATION COMMITTEE iii ABSTRACT vi 中文摘要 vii DEDICATION viii ACKNOWLEDGEMENT ix TABLE OF CONTENTS x LIST OF FIGURES xii LIST OF TABLES xv CHAPTER 1 INTRODUCTION 1 1.1 Background 1 1.2 Literature Review 2 1.3 Organization of the Thesis 4 CHAPTER 2 MATHEMATICAL MODEL OF MICRO-PMSM 6 2.1 Introduction 6 2.2 Mathematical Model 7 CHAPTER 3 DYNAMIC MODEL OF THE PROPOSED MICRO-HAND 10 3.1 Introduction 10 3.2 The Mechanisms of the Micro-Hand and the Micro-Finger 10 3.3 Maximum Angle Model 20 3.4 Differential Angle Model 22 3.5 The Model of the Proposed Micro-Hand 24 CHAPTER 4 CONTROLLER DESIGN 31 4.1 Introduction 31 4.2 PID Controller Design 32 4.3 Two-Degree-of-Freedom PID Controller Design 34 4.4 Stability Analysis and Controller Tuning 41 CHAPTER 5 IMPLEMENTATION 45 5.1 Introduction 45 5.2 Hardware 46 5.3 Software 57 CHAPTER 6 EXPERIMENTAL RESULTS 66 6.1 Introduction 66 6.2 Measured Results 66 CHAPTER 7 CONCLUSIONS 88 7.1 Conclusion Remarks 88 7.2 Future Work 88 REFERENCES 90

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