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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/96418


    Title: 多軸伺服機構精確運動控制分析
    Other Titles: Analysis of Accuracy Motion Control for Multi-axis Servomechanisms
    Authors: 王治平;李韋鴻;王銀添;楊勝明
    Contributors: 淡江大學機械與機電工程學系
    Keywords: 多軸伺服機構;運動控制;交插耦合控制器;Multi Axis Servomechanism;Motion Control;Cross Coupling Controller
    Date: 1997-10
    Issue Date: 2014-03-07 11:35:50 (UTC+8)
    Abstract: 本文探討多軸伺服機構之精確運動控制。我們建立二維及三維空間路徑誤差的幾何模式; 根據路徑誤差的幾何模式設計多軸機構交插耦合控制器, 以改善運動路徑誤差。本研究也規劃多軸命令的產生方法, 產生之命令提供作為多軸伺服機構控制器的參考輸入, 模擬結果顯示交插耦合控制在高速度或速度變化大的時候, 性能優於傳統的前饋與PID控制, 能有效降低路徑誤差。
    This research investigates accuracy motion controls for multi-axis servomechanisms. We create geometric models of contour errors in two- and three-dimensional spaces. Based on these models, a cross- coupling controller is design to improve contour errors. A command generator for three- spline straightline and circular path is also developed. The generated motion command is used as reference inputs for multi-axis servomechanism controllers. In the cases of high speed or large speedrate variation, the simulation results show that the performance of the cross-coupling controller is much better than traditional feedforward and PID controllers.
    Relation: 第十屆全國自動化科技學術研討會論文集第一冊=Automation '97 (Volume I),頁283-288
    Appears in Collections:[機械與機電工程學系暨研究所] 會議論文

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