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題 名 | Optimal Design and Identify for a 3-DOF Mechanical Systems=最佳化設計與鑑別於3自由度機構系統 |
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作 者 | 高志成; | 書刊名 | 高苑學報 |
卷 期 | 17:2 2011.09[民100.09] |
頁 次 | 頁35-47 |
分類號 | 448.22 |
關鍵詞 | 3-DOF LCD機構; 永磁式同步馬達; 改良式最佳化粒子群演算法; 系統鑑別; LCD glass-handling robot; Permanent magnet synchronous motor; PMSM; Modified particle swarm optimization; MPSO; System identification; |
語 文 | 英文(English) |
中文摘要 | 在這篇文章中,我們是利用 3-DOF LCD 具有3個永磁式同步馬達來作為控制的機構。此機構之完整的數學模態方程式包含兩個部分:馬達方程式和機構動態方程式。在數值模擬分析中,我們使用 MATLAB 軟體來執行數學模態之分析,並且利用改良式最佳化粒子群演算法(MPSO)來鑑別系統上不易量出的參數,此 MPSO新的方法是在傳統的 PSO 中加入「距離」之觀念以避免我們所找出的解不是系統的最佳解。藉由 MPSO與 PSO 兩方法針對此系統之收斂特性分析,我們可以很清楚的發現,此 MPSO的方法所找出來的解具有高效率、高品質的最佳解,而且又能夠改善系統響應的準確性。從理論與實驗中透過機械手臂的位移測量以及角度的位置,我們發現,我們所提出來的方法是最能適應我們所研究的系統。 |
英文摘要 | In this paper, a physical model of a 3-DOF LCD glass-handling robot driven by using three permanent magnet synchronous motors (PMSMs) is established. The completely mathematical model includes two parts: the electrical equations of three PMSMs and mechanical equations of the system in three directions. In numerical simulations, MATLAB software is employed to solve the mathematical models and the modified particle swarm optimization (MPSO) to identify all the parameters of the robot, which include those are not easily measured from experiments. This new algorithm is added with “distance” term in the traditional PSO’s fitness function to avoid converging to a local optimum. It is found that the MPSO method can obtain optimal high-quality solution, high calculation efficiency, and compare the convergence characteristics of PSO and MPSO for this system. Although the solution trend is subtle, it did show the capability of MPSO in exploring a more likely global optimum. The angular displacements of the robot arm and the translational positions of the robot end are obtained in the numerical simulations and experimental results. From their comparisons, it is demonstrated that identification results of the dynamic model with four independent variables present the better matching with experimental results of the system. |
本系統中英文摘要資訊取自各篇刊載內容。