多軸伺服機構精確運動控制分析

機構典藏 > College of Engineering > Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering > Proceeding > Item 987654321/96418

Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/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:	[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Proceeding

Files in This Item:

File	Description	Size	Format
多軸伺服機構精確運動控制分析_中文摘要.docx	摘要	14Kb	Microsoft Word	175	View/Open
多軸伺服機構精確運動控制分析_英文摘要.docx	摘要	14Kb	Microsoft Word	100	View/Open

Loading...