| Summary: | 碩士 === 國立成功大學 === 機械工程學系碩博士班 === 92 === The purpose of this paper is finding a control rule, which can be application to 3-Axes servo pneumatic motion system.The control rule is include the method of pneumatic cylinder under loading position control and pneumatic cylinder trajectory tracking motion control.The 3-Axes servo pneumatic motion system is composed of a industry computer,computer interface card,linear scaler, pressure sensor, flow servo valve, press-type cylinder acturator and rodless cylinder acturator.
For the position control,the performance due to static state position error,the paper use PD position controller with the static friction compsator.For the linear motion control, according to PD position controller with the velocity feedforward compsator,use the feedforword-feedback control loop to result the linear motion.For the arc motion control, the paper use the friction compensate,valve dead zone compsate and virtual spring effect compsate aim to pneumatic system simulate a mass-spring system to trajectory sinusoidal.The control rule apply in two-axed pneumatic system can be trajectory circle control.
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