Design and Implementation of Adaptive Controllers Synchronized Motion Applications

• Main Authors: Jiun-Jie Chen, 陳俊傑
• Other Authors: An-Chyau Huang
• Format: Others
• Language: zh-TW
• Published: 2007
• Online Access: http://ndltd.ncl.edu.tw/handle/4bhdw3

碩士 === 國立臺灣科技大學 === 機械工程系 === 95 === Synchronization error can be regarded as the error between the output trajectories of mechanical systems. Intuitively , if the desired trajectories for all systems are the same , then synchronization can be achieved by eliminating the tracking error of individual system output. However , the loading condition for each system is not necessarily the same , and external disturbances as well as the internal uncertainties might be quite different , the synchronization performance would not be satisfactory. In this thesis , a function approximation technique based adaptive controller is designed to give proper performance of synchronization among system outputs. The closed loop system is proved to be uniformly ultimately bounded (u.u.b.) by using the Lyapunov stability theory and the transient state will be limited within an adjustable bound. In some industrial applications , output synchronization is more important than the individual tracking performance , and hence a more sophisticated control strategy is require. A virtual axis method is proposed in this thesis to couple the output of systems to be synchronized so that variation of one output trajectory will give rise to the variation of other’s. A Lyapunov stability theory based analysis is also used to prove that the synchronization error is u.u.b. with guaranteed transient performance. A two-motor experimental setup is built in this study. Several experiments are conducted to justify the feasibility of the proposed strategies.