中文摘要

本研究主要目的為提出一個簡單又能代表行星齒輪動態行為之方程式。因為一般行星齒輪動態模式都是針對設計製造所發展出來的，不但複雜且擁有許多非線性項，在設計控制器上會很麻煩，如把行星齒輪當作單純的減速機構(1:n)，又將失去其動態輸出的真確性。故我們對於單純的減速機構動態模式加入摩擦力損失能量觀點來推導出行星齒輪動態之方程式，然後利用基因演算法鑑別出整個系統方程式的參數。

論文中，利用在傳統基因演算法架構中加入菁英政策、基因毀滅等政策所改良過的基因演算法(MGA)，來搜尋系統方程式的參數。然後再利用實際扭矩(轉速)輸出和鑑別出的系統模擬扭矩(轉速)輸出比較，可得所鑑別出的系統模式和實際系統非常接近。最後與最小平方法(LMS，Least mean-squares)所搜尋系統參數，來做比較，結果顯示利用MGA較能找到最佳的系統參數。

Abstract

In this thesis, a simple dynamic model of the planetary gear train system is developed. Because of the dynamic equations deriving from designing a planetary gear train system are complex and nonlinear, and the controller design is difficult. If we take the planetary gear train system as a pure speed-down mechanism, and then the accuracy of the planetary gear train system will lose. So, we develop the dynamic equations of the planetary gear train system concerning with the conception of friction losses. Furthermore, the MGA method is used to identify the parameters of this system.

The modified genetic algorithm (MGA) is proposed from the simple genetic algorithm (SGA) with some additional strategies, such as Elitist and Extinction strategies. From the computer simulations and the experimented results, it is concluded that the parameters of this system searched by using MGA will be more precise than the parameters searched by using LMS.

目錄

論文摘要 i
目錄 iii
符號索引 v
圖表索引 viii

第一章 緒論 1
1.1動機 1
1.2文獻回顧 2
1.3論文架構 3

第二章 基因演算法之參數搜尋 4
2.1 改良式基因演算法之簡介 4
2.2 改良式基因演算法的基本架構 4
2.2.1 定義適合度函數 4
2.2.2 編碼和解碼 5
2.2.3 菁英政策 5
2.2.4 揀選或複製 5
2.2.5 交配 6
2.2.6 突變 6
2.2.7 基因毀滅 7
2.3 相關知識 7
2.4 馬達模式的建立 9
2.5 實驗設計 11
2.6 基因演算法於馬達的鑑別流程 15
2.7 結果討論 17

第三章 行星齒輪動態方程式的推導與鑑別 19
3.1 相關知識 19
3.2 行星齒輪系統模式的建立 22
3.3 實驗設計 24
3.4 基因演算法於行星齒輪傳動系統之鑑別流程 25
3.5 結果討論 26

第四章 結論和未來展望 27
4.1 結論 27
4.2 未來展望 28
參考文獻 57
附錄A：馬達和驅動器規格表 61
附錄B：變動基因演算法參數所得適合度值表 63

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