| Summary: | 碩士 === 國立成功大學 === 航空太空工程學系碩博士班 === 95 === Because the force apply equipments are widely used in the industry, there are many researches of the force control. In those researches of the force control, the object of force applied is fixed. The purpose of this research is to develop a force control system that can give a constant force to the object no matter the object is fixed or moving.
In this research, we use the coil motor as the force apply equipment. The stator of this coil motor is a permanent magnet and the rotor of this coil motor is the coil. Because the coil motor has only a permanent magnet, the magnetic field is unique. So the noise sources of the force control can be reduced. By analysis the properties of the force control system, we establish the mathematical model. Then we design five kind controllers and compare the performance. The first kind controller is a PI controller. The second kind controller is a PI controller with compensatory voltage. The compensatory voltage is used to cancel the effect of the motion state of the object. The third kind controller is a sliding mode controller that the friction force is uncertainty. The fourth kind controller is a high order sliding mode controller that the friction force is uncertainty. The fifth kind controller is a high order sliding mode controller that the friction force, acceleration and the differential of the acceleration are uncertainty.
By theoretical analysis, the second controller, a PI controller with compensatory voltage for the motion state of the object, should have the best performance. Because the distance of measured is digital, the velocity and acceleration that get by difference the distance of measured have error. Then the compensatory voltage can not provide the correct voltage. So the performance of this kind controller is not the best.
By observe the results of these experiments, we can find that the performance of PI controller is the best. The errors of the apply force are less then 0.2 N beside the moving direction of the object is changed.
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