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題名 | Feedback System Design of a Slewing Flexible Manipulator=撓性旋轉機械手臂之回饋系統設計 |
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作者 | 郭中豐; 黃義順; Kuo, Jeffrey Chung-feng; Huang, Yi-shun; |
期刊 | 中國機械工程學刊 |
出版日期 | 19970200 |
卷期 | 18:1 1997.02[民86.02] |
頁次 | 頁55-66 |
分類號 | 448.942 |
語文 | eng |
關鍵詞 | 撓性旋轉機械手臂; 回饋系統; Flexible manipulator; Vibration control; Feedback design; |
中文摘要 | 本文旨在對撓性旋轉機械手臂作係統回饋控制之研究,文中利用所導出之系統開 迴路超越轉移函數、系統階數及正確之極零點位置,作為最簡控制器之設計依據,據以模擬 線性及非線性回饋系統之絕對穩定性、軌跡控制及干擾消除之特性,避免一般在設計撓性旋 轉機械手臂時所會造成「控制及觀察超溢誤差」之問題。 |
英文摘要 | Most of the flexible manipulator control system designs are based on reduced-order models which often result in computational errors and "control and observation spillover" problems Therefore, it is valuable to develop a simplest controller which can not only stabilize all the vibration modes but also make the flexible manipulator efficient for good tracking and disturbance rejection. To achieve this purpose, the controller design technique, based on the pole-zero pattern of the exact infinite dimensional flexible manipulator's system and its corresponding system type, is presented. Since it does not use finite dimensional approximations of the plant to be controlled, there is no "control and observation spillover". The computer simulation results for linear and nonlinear system models indicate that the system vibration for this designed controller can be eliminated, moreover, good tracking and step disturbance rejection can be achieved by moving all the poles of the closed-loop system into the left half plane. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。