改良型順滑模態控制應用在有限元素法模式之單臂撓性臂

Abstract

本篇論文介紹不確定端點負載有限元素法模型單臂撓性臂之改良型順滑模 態控制設計. 以有限元素法為基礎的模型適合於各式不同的撓性結構. 此外, 有限元素法相對於假設模態法較精準且更為簡易. 在楊與陳的作品 中, 一穩健順滑模態控制器已被成功地發展來控制假設模態法模型之單臂 撓性臂. 在此延續他們的成果, 將說明單臂撓性臂有限元素法模型以及提 出一改良型順滑模態控制器. 此控制器保有對不確定負載的穩健性和消除 匹配型外在干擾的能力. 從電腦模擬結果, 可顯示本文改良型順滑模態控 制器對於調整和斜軌循跡問題以成功應用於單軸撓性臂. This paper introduces the modified sliding-mode controller design of a FEM-based single-link flexible arm with uncertain tip payload. The modeling based on the FEM is suitable for diverse flexible structures. Besides, the FEM is more accurate and much easier than the AMM. In the work of Yeung and [3,4], a robust sliding-mode controller was successfully developed to control an AMM-based single flexible arm model. Here, following up their work, it will be shown that the FEM-based model of a single flexible arm and then propose a modified robust sliding- mode controller. This controller retains the robustness for the uncertain payload and the ability in eliminating the matching type external disturbance. From the simulation results, it can be concluded that the modified sliding-mode controller for regulation and ramp-tracking problems is succeeded by employed into the plant.