撓性機械伺服控制系統之系統鑑別與控制器設計實作

System Identification and Implementation of Controller Design for Flexible Mechanical Servo Control System

丁裕峰(Yu-Feng Ding)

指導教授 ： 吳昌暉

元智大學/工程學院/機械工程學系/碩士(2002年)

摘要

本文將探討撓性(Flexiable)機械伺服機構之動態模型推導(Dynamic Models Establish)、鑑別系統特性參數(System Identification)及控制技術(Controller Design)。利用頻譜分析儀HP-35665A量出各狀態的頻率響應圖，並用曲線嵌合(Curve Fitting)的技術鑑別伺服系統的轉移函數，找出馬達機構及撓性負載的特性參數。最後利用最佳化搜尋法(Optimal Search)找出能符合規格需求的高階Phase Lead、Phase Lag控制器以提高伺服系統反應速度，並且能夠在Matlab6.0程式的simulink環境下成功模擬出系統響應，進而初步估測性能的極限。
換言之，在往後的測試階段，即可先利用程式模擬掌握系統動態行為，觀察當系統輸入小訊號與大訊號之輸出響應的變化，以及評估設計出來的控制器效能。硬體方面我們使用頻譜分析儀HP-35665A量測訊號、示波器以及NI-6024E之AD/DA介面卡。軟體方面搭配Matlab6.0與simulink3.0做實驗的模擬。

關鍵字

撓性機械伺服機構 ； 系統鑑別 ； 頻譜分析儀 ； 頻率響應圖 ； 曲線嵌合 ； 相位領先落後控制器 ； simulink模擬

並列摘要

In the thesis,we will establish dynamic model equation,identify characteristic parameter of mechanical system and develop controller technology for the flexible servomechanism system.We can use frequency spectrum analyzer (HP-35665A) to measure frequency response diagrams in all kinds of cases and utilize the method of curve fitting to identify the transter function of servo motor system.Consequently we find the characteristic parameters for motor mechanism and the flexible plate.Finally,we can use the optimal search method to seek controller parameters of high order phase lead and phase lag,which are in accordance with mechanic performances so that the velocity response can be increased at the same time.We hope to simulate the system reponse successfully in the simulink of Matlab and then estimate performance limits of servo system.
We can use computer programs to master the dynamic action of system in the future,observe the changes of output response which is generated when little or large signals are input into the system and estimate the designed controller parameters.In the hardware,we operate frequency spectrum analyzer to measure signals,observe nonlinear signals from the oscilloscope,achieve the controller by NI-6024E digtal card and simulate response diagrams by way of Matlab6.0 and simulink3.0 in the software.

並列關鍵字

flexible servomechanism ； system identification ； frequency spectrum analyzer ； frequency response ； curve fitting ； phase lead and phase lag controller ； simulink.

參考文獻

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