Modeling and Motion Control of a Micro-positioning Scott-Russell Mechanism
碩士 === 國立高雄第一科技大學 === 機械與自動化工程所 === 94 === Abstract The micro-positioning Scott-Russell (SR) mechanism driven by a piezoelectric actuator (PA) is designed to magnify the displacement of the PA. Main feature of the SR mechanism is its straight-line output for a given input displacement. In this paper...
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ndltd-TW-094NKIT56890102016-05-20T04:18:02Z http://ndltd.ncl.edu.tw/handle/19781005777216838478 Modeling and Motion Control of a Micro-positioning Scott-Russell Mechanism Scott-Russell微定位平台之建模與運動控制 Yao-Ting Tzeng 曾耀霆 碩士 國立高雄第一科技大學 機械與自動化工程所 94 Abstract The micro-positioning Scott-Russell (SR) mechanism driven by a piezoelectric actuator (PA) is designed to magnify the displacement of the PA. Main feature of the SR mechanism is its straight-line output for a given input displacement. In this paper, we derive the dynamic equation of the SR mechanism by Hamilton’s principle, identify the system by using the dynamic signal analyzer HP35670A, and compare dynamic responses between the numerical simulations and experimental results. In system controller design, two kinds of controllers are designed to be the motion control for the SR mechanism. In designing the first controller, the Ziegler-Nichols (Z-N) method and the real-code genetic algorithm (RGA) are employed to design the gains of the Proportional-Integral-Derivative (PID) controller. Their dynamic responses of precision positioning are compared numerically and experimentally. From the experimental result, the regulation error is about ±0.008 μm and the tracking error is about ±0.07 μm. In designing the second controller, the model reference adaptive fuzzy iv control (MRAFC) method is developed for the SR mechanism, where the fuzzy logic method (FLM) is utilized to find the best gain of the adaptation law in order to reduce the time of trial and error. This control method can remedy the shortcoming of the traditional controller with fixed gains, and make the SR mechanism keep its original working performance when external disturbances exist in the control system. From the experimental result, the regulation error is about ±0.004 μm and the tracking error is about ±0.08 μm . Rong-Fong Fung none 馮榮豐 余志成 2006 學位論文 ; thesis 67 en_US |
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碩士 === 國立高雄第一科技大學 === 機械與自動化工程所 === 94 === Abstract
The micro-positioning Scott-Russell (SR) mechanism driven by a piezoelectric
actuator (PA) is designed to magnify the displacement of the PA. Main feature of the
SR mechanism is its straight-line output for a given input displacement. In this paper,
we derive the dynamic equation of the SR mechanism by Hamilton’s principle, identify
the system by using the dynamic signal analyzer HP35670A, and compare dynamic
responses between the numerical simulations and experimental results. In system
controller design, two kinds of controllers are designed to be the motion control for the
SR mechanism. In designing the first controller, the Ziegler-Nichols (Z-N) method and
the real-code genetic algorithm (RGA) are employed to design the gains of the
Proportional-Integral-Derivative (PID) controller. Their dynamic responses of precision
positioning are compared numerically and experimentally. From the experimental result,
the regulation error is about ±0.008 μm and the tracking error is about
±0.07 μm. In designing the second controller, the model reference adaptive fuzzy
iv
control (MRAFC) method is developed for the SR mechanism, where the fuzzy logic
method (FLM) is utilized to find the best gain of the adaptation law in order to reduce
the time of trial and error. This control method can remedy the shortcoming of the
traditional controller with fixed gains, and make the SR mechanism keep its original
working performance when external disturbances exist in the control system. From the
experimental result, the regulation error is about ±0.004 μm and the tracking error
is about ±0.08 μm .
|
author2 |
Rong-Fong Fung |
author_facet |
Rong-Fong Fung Yao-Ting Tzeng 曾耀霆 |
author |
Yao-Ting Tzeng 曾耀霆 |
spellingShingle |
Yao-Ting Tzeng 曾耀霆 Modeling and Motion Control of a Micro-positioning Scott-Russell Mechanism |
author_sort |
Yao-Ting Tzeng |
title |
Modeling and Motion Control of a Micro-positioning Scott-Russell Mechanism |
title_short |
Modeling and Motion Control of a Micro-positioning Scott-Russell Mechanism |
title_full |
Modeling and Motion Control of a Micro-positioning Scott-Russell Mechanism |
title_fullStr |
Modeling and Motion Control of a Micro-positioning Scott-Russell Mechanism |
title_full_unstemmed |
Modeling and Motion Control of a Micro-positioning Scott-Russell Mechanism |
title_sort |
modeling and motion control of a micro-positioning scott-russell mechanism |
publishDate |
2006 |
url |
http://ndltd.ncl.edu.tw/handle/19781005777216838478 |
work_keys_str_mv |
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