單連結撓性機械臂之智慧型定位控制系統

Intelligent Position Control of Single-Link Flexible Robot Arm

李孟昌

指導教授 ： 魏榮宗

元智大學/工程學院/電機工程學系/碩士(2001年)

摘要

中文摘要
本論文之目的在於發展智慧型最佳化控制之非線性馬達-機構耦合系統。首先利用永磁同步伺服馬達以致動單連結撓性機械手臂，形成非線性馬達-機構耦合系統，並推導單連結撓性機械手臂及其手臂頂點有外加質量負載之動態模型。當單連結撓性機械手臂的頂點負載為剛體時，機械臂具有彎曲振動及扭曲振動，此非線性系統狀態由彎曲和扭曲的振動所組成且不易量測。因此本論文中假定系統振動狀態無法實際量測，於是發展強健型滑動模式類神經網路控制系統應用在由永磁同步伺服馬達驅動之單連結撓性機械手臂。然而強健型滑動模式類神經網路控制系統仍需對受控系統參數具有些微瞭解，因此本論文設計智慧型最佳化控制系統對非線性馬達-機構耦合系統週期運動加以控制，以改善強健型滑動模式類神經網路控制系統之缺失。智慧型最佳化控制系統中，模糊類神經網路用來學習最佳化控制法則中之非線性函數，而強健控制器則設計用來補償近似誤差；更進一步的在強健控制器中提出簡單的適應性邊界估測演算法即時調整參數擾動項以克服控制力顫抖現象。此智慧型最佳化控制法則是由最佳化控制技巧和里亞普諾穩定分析的推導過程中得到，因此閉迴路系統中可以保證其系統軌跡的漸近穩定之特性。本論文中所提出之控制系統皆以模擬與實作來驗證其可行性以及強健性。

關鍵字

單連結撓性臂 ； 智慧型 ； 類神經網路 ； 模糊控制 ； 最佳化

並列摘要

Abstract
This thesis proposes an intelligent optimal control system for a single-link flexible robot arm driven by a permanent magnet (PM) synchronous servomotor. First, a PM synchronous servomotor is implemented to drive a single-link flexible robot arm forming a nonlinear motor-mechanism coupling system. Then, the dynamic model of a flexible robot arm with a tip mass is introduced. When the tip mass of the flexible robot arm is a rigid body, not only bending vibration but also torsional vibration are occurred. The states of the nonlinear system, which comprises the bending and torsion vibration, are assumed to be unavailable for measurement in this thesis. Moreover, a robust sliding-mode neural-network control (RSMNNC) system is proposed to control the motor-mechanism coupling system for periodic motion. However, the prior knowledge of the controlled plant are required in the proposed RSMNNC system. In addition, an intelligent optimal control system is designed to control the motor-mechanism coupling system to improve the shortcoming of the RSMNNC system. In the intelligent optimal control system, a fuzzy neural network (FNN) controller is used to learn a nonlinear function in the optimal control law, and a robust controller is designed to compensate the approximation error. Furthermore, a simple adaptive algorithm is proposed to adjust the uncertain bound in the robust controller avoiding the chattering phenomena in the control efforts. The control laws of the intelligent optimal control system are derived in the sense of optimal control technique and Lyapunov stability analysis, so that system-tracking stability can be guaranteed in the closed-loop system. The effectiveness of the proposed control schemes is verified by both the simulated and experimental results.

並列關鍵字

HASH(0xa6ef438)

參考文獻

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