兩軸伺服機構交叉耦合控制
學年 85
學期 1
發表日期 1996-11-30
作品名稱 兩軸伺服機構交叉耦合控制
作品名稱（其他語言） Cross-Coupled Control for Two-Axis Servomechanisms
著者 張志平;王銀添;楊勝明
作品所屬單位 淡江大學機械與機電工程學系
出版者
會議名稱 中國機械工程學會第十三屆全國學術研討會=The Thirteen National Conference of the Chinese Society of Mechanical Engineers
會議地點 臺北市, 臺灣
摘要 本研究實現以DSP為基礎的控制器，同時控制兩軸進給驅動伺服機構。我們將兩軸伺服機構考慮成具多變數的單一系統，方式是以交叉耦合關聯兩軸動力方程式。目的在證明此種方式可有效降低路徑誤差。在低速或速度變化小的情況下，PID控制法則提供足夠的精確度。實驗證明直線路徑時，PID與交叉耦合造成的路徑誤差幾乎相同。但實驗顯示高速或速度變化大時，例如圓弧路徑，PID控制的路徑誤差擴大，而交叉耦合控制則有效降低路徑誤差。這種改進路徑誤差的方法，在高速或精密加工等製造程序上相當有應用潛力。 In this research, we implement control algorithms on DSP-based controller to simultaneously control both axes of a feed drive servomechanism. The two-axis servomechanism is modeled as a single system with multiple variables. The dynamic equation of each axis is related by a cross-coupled relationship. The objective of this research is to improve contour errors of the two-axis servomechanism with a cross-coupled controller. In the situation of low speed or small variation of velocity, a PID controller provides satisfactory accuracy. Experimental results show that there is no significant difference in contour errors between the PID controller and the cross-coupled controller in the cases of line contours. On the other hand, in the situation of high speed or large variation of velocity , experimental results present large contour error in circular contour by using a PID controller. A significant reduction of contour error is achieved by inserting a cross-coupled controller between two axes. The controller is constructed on a DSP controlled two-axis servomechanism and compared to uncoupled controllers. The improvement of contour accuracy has the potential of application in manufacturing processes such as high speed and precision machining.
關鍵字 兩軸伺服機構;交叉耦合控制;路徑誤差;追蹤誤差;適應控制;Two-Axis Servomechanism;Cross-Coupled Control;Contour Error;Tracking Error;Adaptive Control
語言 zh_TW
收錄於
會議性質 國內
校內研討會地點
研討會時間 19961130~19961201
通訊作者
國別
公開徵稿
出版型式 紙本
出處 中國機械工程學會第十三屆全國學術研討會論文集(控制)=Proceedings of the Thirteen National Conference of the Chinese Society of Mechanical Engineers，頁41282
相關連結

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/37956 )

機構典藏連結