Design and Implementation of Adaptive Controllers Synchronized Motion Applications
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...
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ndltd-TW-095NTUS54891112019-05-15T19:48:56Z http://ndltd.ncl.edu.tw/handle/4bhdw3 Design and Implementation of Adaptive Controllers Synchronized Motion Applications 同步運動適應控制器之設計與實作 Jiun-Jie Chen 陳俊傑 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. An-Chyau Huang 黃安橋 2007 學位論文 ; thesis 52 zh-TW |
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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.
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author2 |
An-Chyau Huang |
author_facet |
An-Chyau Huang Jiun-Jie Chen 陳俊傑 |
author |
Jiun-Jie Chen 陳俊傑 |
spellingShingle |
Jiun-Jie Chen 陳俊傑 Design and Implementation of Adaptive Controllers Synchronized Motion Applications |
author_sort |
Jiun-Jie Chen |
title |
Design and Implementation of Adaptive Controllers Synchronized Motion Applications |
title_short |
Design and Implementation of Adaptive Controllers Synchronized Motion Applications |
title_full |
Design and Implementation of Adaptive Controllers Synchronized Motion Applications |
title_fullStr |
Design and Implementation of Adaptive Controllers Synchronized Motion Applications |
title_full_unstemmed |
Design and Implementation of Adaptive Controllers Synchronized Motion Applications |
title_sort |
design and implementation of adaptive controllers synchronized motion applications |
publishDate |
2007 |
url |
http://ndltd.ncl.edu.tw/handle/4bhdw3 |
work_keys_str_mv |
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