具濾波型順滑模態控制於精密定位平台上之應用 李昶毅、林志哲
E-mail: [email protected]
摘 要
本論文所探討的是精密定位系統之設計問題，以兩組滾珠螺桿機械平台為主，研究微米級之超細微機械 定位動作。整個定 位系統之規劃與設計，以PC個人電腦為主，因其開放之架構，非常具有彈性，適合各 種高等控制理論之發展。 摩擦力的 影響是一般機械系統中主要的非線性因素來源，所以系統於低速度 運作時，首先要克服即是因不同物體接觸面所產生的摩 擦。摩擦為複雜的非線性物理現象，包含靜摩擦 、庫倫摩擦和黏滯摩擦，其中靜摩擦與庫倫摩擦屬於非線性函數。 本文 實驗分為兩階段，第一部份為精 密定位實驗，第二部份為尋圓軌跡追蹤問題。精密定位實驗，並沒有採用摩擦力前饋補償 器，而是利用 干擾觀測器與順滑控制器等具有強健性的控制器達成控制目標，此為non-model-based的補償方式。 而尋圓 軌跡追蹤問題，則是利用實驗所建立出來的摩擦力模型配合高增益觀測器進行前饋補償，並加入 干擾觀測器與具濾波型順 滑控制器來抵抗摩擦力干擾現象。
關鍵詞 : 精密定位、摩擦力、干擾觀測器、順滑控制器、 高增益觀測器 目錄
第一章 緒論...1 1.1 前言...1 1.2 文獻回顧...3 1.3 本文內容...5 第二章 精密定位平台建構...6 2.1 滾珠導螺桿所構成的機械系 統...6 2.2 卡氏機械臂...8 2.3 定位系統架構...11 2.3.1 雷射光學 尺...12 2.3.2 dSPACE控制器...13 2.3.3 驅動器硬體設備...15 2.3.4 保護 裝置之設計 ...15 第三章 系統模型與摩擦力分析 ...17 3.1 系統模型建立與鑑別方法
...17 3.2 摩擦力種類與分析 ...18 3.3 系統模型鑑別 ...21 3.4 摩擦力模 型鑑別 ...26 第四章 控制器設計與穩定性分析 ...31 4.1 半閉迴路與全閉迴路控制
...31 4.2 高增益觀測器(High-gain observer) ...33 4.3 干擾觀測器(disturbance observer) ...35 4.4 順滑模態控制器(sliding mode controller) ...38 4.5 具濾波型順滑模態控制器 ...42 第五章 實驗結果 ...44 5.1 單軸定位實驗 ...44 5.2 雙軸循圓實驗 ...59 第六章 結論 ...71 6.1 控制器優缺點 ...71 6.2 結論與未來研究方向
...73 參考文獻 ...74 參考文獻
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