凸輪控制式行星齒輪系之混合控制

Hybrid Control of Cam-Controlled Planetary Gear Trains

張釋仁(Shi-Ren Chang)

指導教授 ： 謝文祥

國立虎尾科技大學/工程學院/自動化工程研究所/碩士(2011年)

摘要

本研究之目的在於提出凸輪控制式行星齒輪系之系統化混合控制方法，以提升其輸出運動精度。首先，探討其運動特性，以求出運動狀態方程式。接著，以系統識別實驗求得系統之數學模型，然後，分別以模糊滑動模式控制器與遞迴學習控制器進行設計與分析，求得較佳控制器參數與類型。更進一步，以進行實例設計與模擬，以驗證其正確性。最後，進行雛型機測試，以驗證其設計方法之可行性。由實驗結果顯示，模糊滑動模式控制器可使輸出轉速快速追蹤期望之運動軌跡，而遞迴學習控制器，可進一步使週期誤差縮小。因此，所提之混合控制方法可有效提昇輸出運動精度。

關鍵字

行星齒輪系 ； 混合控制 ； 模糊滑動模式控制 ； 遞迴學習控制

並列摘要

The purpose of this work is to propose hybrid control systematic approach of motion control for cam-controlled planetary gear trains (CCPGTs), such that it can produce precision output motions. First, the motion characteristics and structures of cam-controlled planetary gear trains are investigated. Then, the parameters of size and the speed of input into the equations of motion, you can get the desired curve of output motion. Moreover, the controller design is performed. The mathematical model of the system is obtained by the system identification experiment, and then the design and analysis of modified fuzzy sliding mode control and iterative learning control, respectively, are conducted to find the better controller types and control parameters, Furthermore, an example is given to illustrate the design and simulation of the process. Finally, the experimental results show that the experimental output speed is well agreed with the required output speed, and the fuzzy sliding mode control can control the output speed of movement in the desired curve, when coupled with iterative learning control, the each cycle can gradually reduce the error of each cycle, Consequently, the proposed method for the motion design and control of hybrid control systematic approach is feasible.

並列關鍵字

Planetary gear trains ； Hybrid control ； Fuzzy sliding mode control ； Iterative learning control

參考文獻

13. 陳政宇，混合變轉速系統之運動控制，碩士論文，國立虎尾科技大學自動化工程研究所，2010年。

32. 陳永平、張浚林編著，可變結構控制設計，全華科技股份有限公司，台北，2006。

4. Chironis, and Nicholas, P., Mechanisms & Mechanical Devices Sourcebook, McGraw-Hill, New York, 1991.

6. Hsieh, W. H., "Kinematic Synthesis of Cam-Controlled Planetary Gear Trains," Mechanism and Machine Theory, Vol. 44, No. 5, pp. 873-895, 2009.

7. Hsieh, W. H., "An Experimental Study on Cam-Controlled Planetary Gear Trains," Mechanism and Machine Theory, Vol. 42, No. 5, pp. 513-525, 2007.