标题: | 改良型顺滑模态控制应用在有限元素法模式之单臂挠性臂 Modified Sliding-Mode Control Applied to FEM-based Single-link Arm |
作者: | 许怀德 Hsu, Huai Te 陈永平 Chen Yong-Ping 电控工程研究所 |
关键字: | 挠性臂;有限元素法;顺滑模态控制;可变结构系统;Flexible arm;FEM;Sliding-mode control;Variable structure system |
公开日期: | 1996 |
摘要: | 本篇论文介绍不确定端点负载有限元素法模型单臂挠性臂之改良型顺滑模 态控制设计. 以有限元素法为基础的模型适合于各式不同的挠性结构. 此外, 有限元素法相对于假设模态法较精准且更为简易. 在杨与陈的作品 中, 一稳健顺滑模态控制器已被成功地发展来控制假设模态法模型之单臂 挠性臂. 在此延续他们的成果, 将说明单臂挠性臂有限元素法模型以及提 出一改良型顺滑模态控制器. 此控制器保有对不确定负载的稳健性和消除 匹配型外在干扰的能力. 从电脑模拟结果, 可显示本文改良型顺滑模态控 制器对于调整和斜轨循迹问题以成功应用于单轴挠性臂. 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. |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#NT850327057 http://hdl.handle.net/11536/61715 |
显示于类别: | Thesis |