- 學位論文
具負載之新型六連桿式衝床系統研究
On a Novel Press System of Six-Link Mechanisms with External Loads
摘要
本研究之目的在於提出具負載之新型六連桿式衝床的運動控制方法，並以液壓伺服系統模擬實際加工負載，使其衝床性能與實際狀況相符合。首先，探討新型六連桿式衝床系統的構造與運動特性。接著，推導液壓伺服系統的數學模式，以便設計負載系統的位置控制器、力量控制器、及主從控制器。然後，以深引伸加工為例子，進行負載設計。並且，使用最佳化方法設計變轉速輸入曲線，以改善輸出之加工特性。更進一步，利用系統識別實驗求得衝床系統的數學模型，以進行運動控制器之設計。最後，以實例進行控制器設計與模擬，由模擬結果顯示，輸出與期望輸出極為吻合，因此，所提之運動控制方法為可行。而本研究更進一步進行遞迴學習控制，以降低系統的週期性誤差，使輸出精度更進一步提昇。
並列摘要
The purpose of this work is to propose an approach for the motion control of a novel press with six-link mechanisms considering its machining loads. In the system, a hydraulic servo system is used to simulate the forming loads, hence the performance of the system can be consistent with actual conditions. First, the structure and motion characteristics of the system are investigated. Then, the mathematical model of hydraulic servo system is derived for the designs of position controller, force controller, and master-slave controller of the loading system. Also, the trajectories of the variable speed input for improving the output motion characteristics of the system are obtained by using the optimization method. Furthermore, the transfer function of the system is found by conducting a system identification experiment, and the motion controller design can then be performed. Finally, design examples are given for illustrating the processes of design and analysis. The results of simulation show that the output agrees well with the required output. Consequently, the proposed motion control approach is feasible. In addition, when an iterative learning control is added in the system, the cyclic error can be reduced, and the accuracy of the system can be further increased.