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dc.contributor.authorHuang, Ruei-Yuen_US
dc.contributor.authorCheng, Chung-Weien_US
dc.contributor.authorLee, An-Chenen_US
dc.date.accessioned2018-08-21T05:56:27Z-
dc.date.available2018-08-21T05:56:27Z-
dc.date.issued2018-01-01en_US
dc.identifier.urihttp://hdl.handle.net/11536/146211-
dc.description.abstractIn this paper, an EtherCAT scanning mirror system with function of NURBS path tracking control was investigated. By using EtherCAT protocol to connect master computer with a scanning mirror system, we did a first attempt to implement position control by the master computer, so that one can apply an advanced control algorithm to the system instead of applying a distributed control algorithm on the proprietary driver of the slave device. The technical issue of this configuration like commutation delay caused by the three-buffer-mode is addressed. A two-staged H-infinity with feed-forward controller is designed for the position control loop. Moreover, considering the widely used of non-uniform rational B-spline (NURBS) in the field of CAD/CAM, we added the function of NURBS path planning in the controller so that the system can deal with complex NURBS curves. The experiment results showed that the proposed method can reduce tracking error and have better performance when comparing with traditional distributed control strategy.en_US
dc.language.isoen_USen_US
dc.subjectScanning Mirror Systemen_US
dc.subjectEtherCATen_US
dc.subjectRobust Controlen_US
dc.subjectDistributed Controlen_US
dc.titleNURBS Path Tracking Control of a Scanning Mirror System Based on EtherCAT Fieldbusen_US
dc.typeProceedings Paperen_US
dc.identifier.journal2018 3RD INTERNATIONAL CONFERENCE ON CONTROL AND ROBOTICS ENGINEERING (ICCRE)en_US
dc.citation.spage79en_US
dc.citation.epage84en_US
dc.contributor.department機械工程學系zh_TW
dc.contributor.departmentDepartment of Mechanical Engineeringen_US
dc.identifier.wosnumberWOS:000435540700016en_US
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