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    Title: 點字印表機傳動系統控制與減振設計分析
    Other Titles: The Position Control and Vibration Suppression Design of a Braille Printer
    Authors: 蔡慧駿;Tsay, Huoy-shyi;葉豐輝;Yeh, Fung-huei;宋乙宗;Sung, Yi-Chong
    Contributors: 淡江大學機械與機電工程學系
    Keywords: 盲用點字印表機;回授控制;振動控制;Braille Printer;Feedback Control;Vibration Control
    Date: 2000-12
    Issue Date: 2010-01-11 14:44:44 (UTC+8)
    Abstract: 本研究針對盲用點字印表機傳動系統執行點字衝擊頭定位控制與減振設計。首先以點字衝擊頭末速為零與任一定位為考量,設計開迴路電壓一相激磁電路驅動步進馬達以了解系統特性。系統模擬分析時先將傳動系統簡化為線性方程組,接而求得傳動系統之傳輸函數。分析結果顯示點字衝擊頭振幅高達30.1904dB,其步階響應之最大超越量更高達101.5194%。為符合設計規格,本研究遂應用步進馬達電流進行回授補償控制。先於馬達無負載下求得電流回授補償參數。再將回授補償參數導入傳動系統動態方程組。經模擬結果發現可將點字衝擊頭共振振幅及步階響應之最大超越量大幅降低。接著透過無因次化分析結果顯示只需將點字衝擊頭水平運動所引發之振動頻率提高至約169. 6597Hz,即約步進馬達共振頻率之90.1598%時,即可達到點字衝擊頭之最大超越量小於2%、上升時間小於0.005秒及安定時間小於0.01秒之設計規格。
    In this study, the position control and the vibration suppression ofthe printer head of a Braille printer is studied. First, a simple openloop voltage controller is used to drive and access the performance ofthe Braille printer. After the nonlinear transmission system equationsof the printer are derived, these equations are then linearized aboutan operation point, a specific position with zero end velocity.Through the Laplace transformation, the transfer functions are thenobtained. Analysis results show that the vibration level and themaximum overshoot of the printer head are over 30. 1904dB and101.5195%, respectively. In order to improving the performance of thecontroller, the backemf current of the stepping motor is used to forma compensative control. The compensative coefficients are thenestimated while the step motor is unloaded. After the used of such acompensative controller, the vibration level and the maximum overshootof the printer head are reduced dramatically. Followed by thedimensionless analysis, it is learned that by increase the resonancefrequency of the printer head to 169.6597 Hz, about above 90.1598% ofthe resonance frequency of the step motor, the resulted performancecan fulfill the specification declared.
    Relation: 八十九年度中華民國力學學會年會暨第二十四屆全國力學會議論文集=24th National Conference on Applied and Theoretical Mechanics, 頁N.A.(CD)
    Appears in Collections:[機械與機電工程學系暨研究所] 會議論文

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