史都華平台之阻抗控制結合模糊類神經網路補償器之設計與模擬

An Impedance Control Design and Simulation of Stewart Platform with Fuzzy Neural Network Compensator

史家昀(Chia-Yun Shih)

指導教授 ： 趙昌博

中原大學/工學院/機械工程學系/碩士(2003年)

https://doi.org/10.6840/cycu200300580

摘要

本文提出一種模糊類神經阻抗控制器做為六軸並聯式工具機,亦稱史都華平台的伺服控制系統。在自由空間下作未受拘束運動，具有位置追蹤的能力，在面對接觸空間作受拘束運動時，則具有力量追蹤的能力。原本的阻抗控制會因為由於不確定因素，如機械動態模型和環境剛性而缺乏強健性。因此，,為了要增加阻抗控制器的強健性，本文將加入模糊類神經系統來對其不確定因素作補償。此模糊類神經阻抗控制系統將有能力使來自接觸面的反作用力去追蹤期望的力量。本文將對此伺服控制系統的性能，以Matlab/Simulink來進行單軸滾珠螺桿系統和史都華平台的電腦模擬。模擬結果得知道模糊類神經阻抗控制器對位置追蹤於自由空間和力量追蹤於接觸空間，皆有良好的效能。

關鍵字

模糊類神經 ； 史都華平台 ； 阻抗控制 ； 滾珠螺桿 ； 拘束性運動

並列摘要

This study is dedicated to design a fuzzy neural network impedance controller with position tracking capability and force tracking capability for six-axis parallel machine tools such as stewart platform is under unconstrained motions in free space and constrained motions in contact space. Original impedance control approaches usually lack robustness to the uncertainties such as the manipulator dynamic model, and environment stiffness. To solve the problem, a fuzzy neural network scheme is augmented to compensate for the aforementioned uncertainties is considered. This proposed control schemes is capable of rendering the external force to track the desired force prescribed originally by dynamic impedance. Computer simulations are carried out for the single axis ball-screw and the stewart platform by Matlab/Simulink software in this study. The results of simulation are conducted to validate the performance of the designed impedance control scheme and show the highly efficiency of position tracking in free space and force tracking in contact space.

並列關鍵字

Fuzzy neural network ； Stewart platform ； Constrained motion. ； Ball-screw manipulator ； Impedance control

參考文獻

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