研究生: |
楊泓儒 Hung-ju Yang |
---|---|
論文名稱: |
虛擬四連桿機構設計與實作 Design and realization of virtual four-bar linkage |
指導教授: |
黃安橋
An-Chyau Huang |
口試委員: |
黃緒哲
Shiuh-Jer Huang 陳亮光 Liang-kuang Chen |
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: | 2011 |
畢業學年度: | 99 |
語文別: | 中文 |
論文頁數: | 45 |
中文關鍵詞: | 虛擬機構 、動態連結 、適應參考模型控制 、函數近似法 、主從控制 、同動控制 |
外文關鍵詞: | virtual mechanism, dynamic linking, model reference adaptive control, FAT, master slave conrol, coordinated control |
相關次數: | 點閱:486 下載:2 |
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本文提出實現虛擬四連桿機構的方法,其除了可以維繫輸入軸與輸出軸間之運動學關係外,亦能實現其動態行為。實做上係以兩顆馬達來做為四連桿的輸入軸與輸出軸,再以模型參考控制器與追蹤控制器來達成運動學與動力學行為。為驗證上述概念的可行性,本文設計一組具虛擬機構連結之雙馬達平台,並以實驗證實所提方法確實可行。
This thesis proposes a methodology for realization of a virtual four-bar linkage. It is able to keep proper kinematical relationship between the input and output axis, and give feasible dynamic behavior. Two motors are employed to be the input and output axis so that the model reference adaptive controller and tracking controller are designed to achieve desired kinematics and dynamics. To verify its feasibility, an experimental setup composing of two DC motors is built. The experimental results show the efficacy of the proposed method.
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