追求高生產效率的自動化環境下，精密機械與設備的進給驅動之高速化是一種相當有效的關鍵技術之一。然而，任何機構或機械之工作平台及因不良的加減速運動所伴隨之殘振現象，將影響機械之精度、品質、與疲勞壽命等。所以，對此問題必須徹底分析了解以尋求解決對策，才能達到高生產效率與高品質的目標。因此，本論文將針對一高速化軟板沖孔定位平台，探討定位平台在做點到點急動急停之間歇運動時，馬達加減速運動在不同暫態時序下對於定位殘振之影響。並透過系統模擬架構的建立，與實驗結果相互驗證，分析出定位平台運動特性與定位殘振之關係，以改善定位平台達到快速又平穩的精密定位，作為往後設計馬達運動曲線之參考依據。

Recently, many industries pursue the goal of automatic high-speed assembly and manufacturing. So how to meet the requirement of high-precision and high-speed automatic assembly equipment is an important issue. In automatic assembly equipment, the inappropriate acceleration or deceleration motion will cause unsuitable inertia force and vibration to the positioning table. In order to reach the high production efficiency level, the problems of shortage of motor power, poor positioning accuracy, residual vibration, and noise shall be analyzed and solved.
In previous researches, the researchers all devote to study acceleration and deceleration based on symmetrical time chart. In this paper, we change the accelerating and decelerating phase to reduce inertia force and decrease residual vibration of point-to-point motion. The system model is built to simulate dynamic response of the system. Through the results of simulation and experiment, we will discover the relations between the properties of motion and residual vibration about the high-speed positioning tables. It is expected to improve residual vibrations and design motion profiles according to those effective transient response control charts.

目錄 Ⅰ
圖目錄 Ⅱ
表目錄 Ⅳ
符號說明 Ⅴ
摘要 Ⅶ
Abstract Ⅷ
第一章 緒論 1
1-1 前言 1
1-2 文獻回顧 2
1-3 研究動機與目的 3
1-4 研究方法 5
1-5 論文架構 6
第二章 軟板沖孔機台之設計 7
2-1 軟板沖孔機台簡介 7
2-2 機台控制系統 8
2-3 機台機械結構 10
2-4 定位平台慣性矩與馬達扭矩之關係 11
2-5 定位平台加速特性與馬達扭矩之關係 13
第三章 動態系統模型建立 16
3-1 系統模型 16
3-2 系統方程式 16
第四章 運動曲線之規劃與合成 26
4-1 運動曲線之特性 26
4-2 梯形運動曲線之規劃 26
4-3 S型運動曲線之規劃 30
4-4 S型不同時序運動曲線之規劃 37
4-5 模擬梯形與S型運動曲線之時序規劃 41
第五章 動態模擬與實驗量測 48
5-1 實驗設備 48
5-2 實驗規劃與步驟 50
5-3 實驗結果 52
5-4 實驗結果分析與討論 58
第六章 結論 65
參考文獻 67
附錄A 馬達速度響應及參數調整定 70
附錄B 動態系統參數設定 76

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