標題: 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
Modified Sliding-Mode Control Applied to FEM-based Single-link Arm
作者: 許懷德
Hsu, Huai Te
陳永平
Chen Yong-Ping
電控工程研究所
關鍵字: 撓性臂;有限元素法;順滑模態控制;可變結構系統;Flexible arm;FEM;Sliding-mode control;Variable structure system
公開日期: 1996
摘要: 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.
URI: http://140.113.39.130/cdrfb3/record/nctu/#NT850327057
http://hdl.handle.net/11536/61715
顯示於類別:畢業論文