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| 題 名 | 撓性臂的適應預測控制=Adaptive Identification and Predictive Control of a Flexible Arm |
|---|---|
| 作 者 | 李武鉦; | 書刊名 | 技術學刊 |
| 卷 期 | 13:2 1998.06[民87.06] |
| 頁 次 | 頁237-243 |
| 分類號 | 448.942 |
| 關鍵詞 | 系統辨識; 適應控制; 撓性結構; 格子狀濾波器; Adaptive control; Flexible structures; Lattice filter; Predictive control; |
| 語 文 | 中文(Chinese) |
| 中文摘要 | 本文研究撓性臂的適應預測控制,並以實驗証明其正確性與可行性。研究中,以 80486 個人電腦利用格子狀濾波器系統辨識程式,來辨識直流馬達所驅動的撓性臂系統,然 後據以設計預測控制器,進而執行控制。受控的撓性臂一端鑲在直流馬達輸出軸的鋼性轂上 ,而另一端是自由端。自由端的影像由視覺系統送到個人電腦,電腦處理影像得到自由端的 位置。自由端的端點立一顆發光二極體,以利影像的處理。個人電腦的控制命令,經由數位 類比轉換,送入馬達驅動器,以驅動受控臂。為了方便比較,一支剛性臂及一支撓性臂各別 用於適應預測控制的實驗。實驗證實適應預測控制方法能夠有效的控制剛性臂及撓性臂。 |
| 英文摘要 | This research addresses adaptive identification and predictive control of a flexible arm. Experiments are performed to prove the feasibility of this adaptive controller. An 80486 personal computer is used for these experiments. First, lattice filters are used to identify the flexible arm system.Then, predictive controller is designed according to the identified transferfunction. Finally, the control actions are performed in real-time. The flexible arm is a pinned-free beam, with one end driven by a DCmotor and another end free. A vision system is used to capture the movement of the arm. We put an LED at the free end of the arm to make position recognition easy. The control actions from PC are sent to a DC motor driverby a D/A card to drive the flexible arm. For comparison, a rigid arm and a flexible arm are both controlled inthis study. The proposed adaptive controller can stably control the flexibe arm and the rigid arm. |
本系統中英文摘要資訊取自各篇刊載內容。