標題: | 以回溯位置命令為基礎之伺服機構交叉耦合控制 Cross-Coupled Control of Servomechanisms with command Retrogression |
作者: | 涂宜宏 Twu, Yi-Horng 金甘平 Chin, Kan-Ping 機械工程學系 |
關鍵字: | 回溯位置命令;交叉耦合控制 |
公開日期: | 1996 |
摘要: | 本文主要是提出新的以回饋線性化控制法及位置命令回溯為基礎之
路徑追蹤交叉耦合控制方式。此方法除了能減小路徑追蹤時的輪廓誤
差,簡化耦合項的計算之外,而且能夠以理論證明系統的穩定性及收
斂性。一般的耦合方式皆只能達到部分的上述的目標,本文使用我們提
出新的耦合控制方式能夠完全符合上述三項的要求。最後用我們所提
出的耦合方式去做各種路徑追蹤之模擬及實驗,而且和其他的耦合方
式互相比較,以證實我們所提出的耦合方式確實能有效的減小輪廓誤
差。 The purpose of this thesis is to develop new cross-coupled controllers for servomechanism control based on the feedback linearization control method and command retrogression. A good cross-coupled algorithm control should be effective in reducing the contour error and easy to compute. Moreover, the stability and convergence of the closed-loop system should be verified analytically. Previous works in cross-coupled control can only achieve some of the aforementioned purposes. With theoretical analysis, computer simulation and hardware experimentation, we have shown that the cross-coupled controllers presented in this thesis can achieve all of the aforementioned purposes. |
URI: | http://140.113.39.130/cdrfb3/record/nctu/#NT853489034 http://hdl.handle.net/11536/62383 |
Appears in Collections: | Thesis |