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博碩士論文 etd-1028110-145433 詳細資訊
Title page for etd-1028110-145433
論文名稱
Title
強韌型積分結構控制電液壓伺服驅動器之研製
A Study on Electro-hydraulic Servo Control Drivers Using Robust Integral Structure Control Strategy
系所名稱
Department
畢業學年期
Year, semester
語文別
Language
學位類別
Degree
頁數
Number of pages
99
研究生
Author
指導教授
Advisor
召集委員
Convenor
口試委員
Advisory Committee
口試日期
Date of Exam
2010-10-02
繳交日期
Date of Submission
2010-10-28
關鍵字
Keywords
電液壓、強韌積分結構控制
Electro-hydraulic, Robust integral structure control
統計
Statistics
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中文摘要
基於強韌積分結構控制法則(Robust Integral Structure Control, RISC)本文提出一數位式伺服控制器應用在液壓伺服控制系統。主要目的在提升系統效能,使受控伺服液壓桿精準追蹤弦波或步階位置命令。本論文根據狀態回授原理推導受控系統模型,將整體閉回路系統特徵根設計在穩定平面,以確保動態時系統狀態變數可快速收斂到達穩定點,本文將詳細說明設計原理,電腦模擬及實作結果驗證系統效能。
Abstract
A digital position servo controller for the Electro-hydraulic system is proposed based on robust integral structure control (RISC) scheme. The main aims of the proposed system are to enhance the performance while driving the servo machine rod to track a sine-wave or step command. According to the state feed-back theorems, a simplified plant model of the Electro-hydraulic is conducted. Close-loop characteristic function of the control system will be assigned on the stable plane to ensure the state variables so that it can rapidly converge to stable point. The design steps and theoretical analysis will be described in detail. Both simulation and experimental results are shown for proving the performance.
目次 Table of Contents
中文摘要 I
英文摘要 II
目錄 III
圖目錄 V
表目錄 IX
第一章 緒論 1
1.1 研究動機 1
1.2 文獻回顧 2
1.3 研究方法 3
1.4 論文架構 4
第二章 以強韌型積分結構控制法則設計液壓伺服系統 5
2.1 強韌型積分結構控制法則 5
2.2 液壓系統數學模型 7
2.3 液壓缸位置控制系統設計 11
2.4 液壓缸位置伺服控制系統模擬 15
第三章 實驗系統架構分析 20
3.1 伺服閥介紹 22
3.1.1 伺服閥規格 23
3.2 液壓缸 24
3.3 編碼器 25
3.4 伺服閥驅動器電路設計 25
3.4.1 Flyback電源設計 25
3.4.2 電壓轉電流電路 28
3.5 數位訊號處理器發展系統 30
3.5.1 MPLAB – IDE整合式發展平台 31
第四章 程式系統架構分析 33
4.1 程式架構與設計 33
4.1.1 定點格式(Fixed point formats)表示方法 34
4.1.2 程式設計 36
4.2 控制器數位化實現 40
4.3 速度回授演算法 41
4.4 周邊模組 43
4.5 人機介面 44
第五章 實驗結果分析與討論 46
5.1 液壓缸位置控制 48
5.1.1 PI位置控制 48
5.1.2 強韌型積分結構控制器位置控制 48
5.2 液壓缸弦波命令追蹤控制 49
第六章 結論與未來展望 82
6.1 結論 82
6.2 未來展望 83
參考文獻 84
參考文獻 References
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