具有模糊輪廓控制與速率適應特性之複合式運動平台軌跡追蹤系統

Abstract

如何達成高速高精度多自由度曲面加工一直是學術界與業界一致努力的終極目標，其中因為對數控工具機(Computer numerical control ,CNC)的重視，這個領域的研究更是蓬勃發展。而本實驗室在歷屆學長的努力下，不管在於工具機的機構、切削、控制方面均有不錯的成果，因此本論文根據實驗室歷屆所發展的機構及控制技術為基礎，以史都華加上X-Y平台所組成的複合式工具機，加上多軸交叉偶合預補償控制器(Multi-axis cross-coupled pre-compensation method ,MCCPM)為架構，考慮曲線之曲率和回饋之誤差值，經由實際的幾何模型，以及根據結合人的操作經驗、知識和推理機制的模糊邏輯控制器(Fuzzy Logic controller , FLC)縝密精確的判斷後，來增加路徑命令插補時的精確度，最後並經由電腦數值模擬，證明的確能解決MCCPM應用在複雜曲率曲線加工時輪廓誤差擴大的情形。

In machining there is a continuous effort in pursuing high speed and high precision. The purpose of this work is to improve the precision of the tracking scheme “multi-axis cross-coupled pre-compensation method (MCCPM)” by adoption of some proven features. The tracking method is implemented on a hybrid motion platform which is a combination of Stewart platform and X-Y table. One feature adopted is the adaptation of feeding speed with respect to the curvature of the trajectory being tracked; another feature is Fuzzy Logic Controller for dealing with contour errors. It has been shown that the incarnation of these two features in the MCCPM has improved the precision of tracking.