- 學位論文
順滑模式應用於氣動馬達伺服平台之定位控制
Siding mode control for pneumatic servo system
摘要
本論文目的是利用DSP單晶片做為控制器設計介面，將控制器應用在氣動馬達伺服平台的單軸定位控制。控制器的設計方法分別使用PID控制器、PD調變控制方法(Proportional-Differential-Modulation Controller)以及順滑模式理論(Sliding-Mode Theory)作為設計的基礎。 由於氣體的可壓縮性以及系統摩擦力等影響，造成系統具有高度非線性的特性，因此本文首先利用Ziegler Nichols方法設計PID控制器的增益值，再利用此增益值作為參考，根據響應區間的特性設計PD調變控制器；爾後利用MATLAB軟體的系統鑑別功能，估測系統參數變動的範圍，再利用順滑模式理論設計對於變動參數具有強健性的順滑模式控制器(SMC：Sliding-Mode-Controller)，並與PD調變控制器作性能的比較。 然而，不論使用那一種控制器的設計，氣動馬達在低速時，系統的摩擦力行為都相當複雜而不可預測，造成系統在最後定位時產生以震動及穩態誤差。因此本文在低速時，將系統加入最大靜摩擦力的補償，以消除系統震動以及穩態誤差，達到定位的目標。
並列摘要
The purpose of this thesis is to control the air motor by using the DSP controller. This thesis was presented the results of position control in a single axis of table by PID, PD-Modulation controller as well as Sliding-Mode controller (SMC). The nonlinear system is caused by friction force and compressibility of air in the mechanism. The gains of PID controller were decided by Ziegler Nichols method. The PD Modulation controller was evaluated from the gains of PID controller and the definitions of PD modulation method. At the end of this thesis, the SMC will be proved that it has better robustness for uncertain system, the ranges of uncertain parameters can be found by the system identification functions in MATLAB. Because of lower speed, the friction behavior, causes the steady state error, is complicated and difficult to predict. Therefore, the friction compensation was applied to eliminate the steady state error and the following experimental results were illustrated the comparisons of methods previously described.