加速度迴授式控制法則之分析

Abstract

本論文主要是在分析加速度迴授式控制法則應用於伺服系統控制時的一些 特性，並將分析所得的結果以單軸馬達與雙軸機器臂做模擬驗證，並以單 軸馬達的實驗驗證分析的正確性。在此種控制法則之下，軌跡追隨的性能 受到許多因素的影響，諸如取樣時間、軌跡速度快慢、位置量測不準確、 速度及加速度估測不準確與控制器參數的設定等等。首先我們將推導出此 種控制法則的穩定性條件，利用此條件，找出加速度、速度與位置誤差的 界，並進一步推導出這些誤差界與上面提到那些因素的關係，而後以模擬 及實驗驗證分析的結果，我們可以清楚看出軌跡追隨性能好壞的確是受到 上面提到那些因素的影響。最後我們將對轉矩命令做仔細的分析，我們把 轉矩命令分成了兩部份。第一部份是為達到完美軌跡追隨所需的轉矩，第 二部份則是干擾項。由此分析，我們可看出造成干擾的因素。 The main objective of this thesis is to analyze some proper- ties of a control scheme with acceleration feedback when we apply the control scheme to servo control problems. Meanwhile, we will verify our analysis by making simulations on a single- joint motor and a two-linked robot manipulator. Some experiments will also verify our analysis results. In this control law, the performance of trajectory tracking will be influenced by many factors, like sampling time, trajecto- ry speed, inaccuracy of position measurement, inaccuracy of velo- city and acceleration estimation and controller parameter setting , etc. First we will find the stability criterion of this control law. Applying this criterion, we can find the bounds of accelera- tion, velocity and position error, then find the relation between these error bounds and the factors mentioned in the above. With some simulations and experiments, we can clearly see that the performance of trajectory tracking is affected by the factors mentioned in the above. At last, we will analyze the torque command in detail. We seperate the torque command into two parts. The first part is to achieve perfect trajectory tracking and the second part is the disturbance. From the analysis, we can figure out the factors of disturbance.