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題 名 | 以Mixed Gain Scheduling/MRAC控制器應用於超精密定位系統之研究=Mixed Gain Scheduling/MRAC Controller for Ultra-Precision Positioning Systems |
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作 者 | 趙崇禮; 王修平; 鈕健; | 書刊名 | 中正嶺學報 |
卷 期 | 27:1 1998.09[民87.09] |
頁 次 | 頁67-75 |
分類號 | 448.942 |
關鍵詞 | 模式參考適應控制器; PID控制器; 超精密定位系統; Model reference adaptive control; PID; Precision positioning system; |
語 文 | 中文(Chinese) |
中文摘要 | 本研究以Mixed Gain Schedulin / MRAC方法來改善模式參考適應控制器之固定增益無法適 用超精密定位系統所須運動衝程問題。並以氣潤式摩擦驅動裝置、直流伺服馬達及氣靜壓導軌等元 件組成之超精密定位系統進行定位實驗,來驗證Mixed Gain Scheduling / MRAC控制器對平台負載 變化及定位運動衝程變化的強健性。此外,PID及固定增益模式參考適應控制亦加以驗證比較。實 驗結果顯示PID控制器強健性最差,固定增益模式參考適應控制器具備對平台負載變化之強健性但 欠缺對定位運動衝程變化之強健性;Mixed Gain Scheduling/MRAC控制器在平台運動衝程由25nm 變化至10mm(衝程增加4×10□倍)及平台負荷變化(較原始質量增加521%)時均能保持一致的 響應結果。 |
英文摘要 | A mixed gain scheduling model reference adaptive control (MGS/MRAC) approach was used in the present research to improve the performance of model reference adaptive control with fixed gain (FG/MRAC) in long stroke precision positioning system. To compare its robustness, PID、FG/MRAC and MGS/MRAC controllers were employed and tested on a precision stage with air-lubricated capstan drive, DC servo motor and air-lubricated slides. The results showed that while MGS/MRAC demonstrated consistent performances and robustness when the stroke length varied from 25nm to 10mm and loads increased to 521% of its original mass; PID performed poorly on both accounts and FG/MRAC, though had good resistance to varying loads, went unstabled when the stroke length was increased to 10μm. |
本系統中英文摘要資訊取自各篇刊載內容。