查詢結果分析
來源資料
相關文獻
- 以函數近似法結合分數階滑動模式控制發展低能耗之氣壓伺服軌跡追蹤系統
- 創新三維氣壓針車機構平臺設計與分析之研究
- 簡易電氣控制氣壓系統設計
- 臺灣週邊海域氣象(氣壓系統、盛行與天氣、海象概況)
- Tracking/Rejection of Harmonic Signals with Virtual Vibration Absorbers
- 考慮致動器動態效應於機械臂之適應性軌跡控制
- On the Adaptive Tracking Control for Manipulator Arms Considering Electrical Actuator Dynamics
- 氣壓系統技術之發展趨勢
- 氣壓系統無段定位控制分析
- Based on Hierarchical Strategy of Adaptive Tracking Control of Mobile Robots Using Backstepping Design
頁籤選單縮合
題名 | 以函數近似法結合分數階滑動模式控制發展低能耗之氣壓伺服軌跡追蹤系統=Developing the Functional Approximation Method with Fractional Order Sliding Mode Control of Low Energy Costs for the Pneumatic Tracking Servo System |
---|---|
作者 | 林浩庭; 李育賢; | 書刊名 | 農林學報 |
卷期 | 70:1 2023.03[民112.03] |
頁次 | 頁15-23 |
分類號 | 434.251 |
關鍵詞 | 氣壓系統; 分數階滑動模式控制; 軌跡追蹤; Pneumatic system; Fractional order sliding mode control; Trajectory tracking; |
語文 | 中文(Chinese) |
DOI | 10.30089/JAF.202303_70(1).0002 |
中文摘要 | 本研究提出以分數階滑動模式控制發展低能耗之氣壓伺服軌跡追蹤系統。首先,建立無桿式氣壓系統動態模型,在控制器設計上,以函數近似法之傅立葉級數展開近似未知、時變且不確定之氣壓系統模型。並以Lyapunov穩定度進行函數近似法結合分數階滑動模式控制器之證明。利用MATLAB設計與模擬軌跡追蹤伺服控制。以函數近似法結合分數階滑動模式控制器除了可減少系統顫振現象,降低氣壓元件的耗損,並以較小的控制訊號達到更精準的控制。此系統未來將有助於農業及工業自動化之發展。 |
英文摘要 | This study aimed to develop the functional approximation method with fractional order sliding mode control (FAFOSMC) to achieve accurate trajectory tracking control. Compared with the traditional sliding mode controller (SMC), control errors and control inputs of the FAFOSMC were smaller. Additionally, Fourier series expansions were used to approximate unknown and uncertain models of the pneumatic system. The fifth-order polynomial trajectory was designed to achieve trajectory tracking control. Finally, compared with the SMC, the simulation results showed that the FAFOSMC was satisfactory for the trajectory tracking control of the rod-less pneumatic cylinder with better performances in root mean square errors (RMSE) on different strokes. In addition, the FAFOSMC achieved more precise control by smaller signals, which could reduce servo valves chattering and save energies. Also, the proposed system can be adopted for agricultural and industrial automation in the future. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。