Dynamic Simulation and Control of the XY-Platform

• Main Authors: I Ting Chang, 張宜婷
• Other Authors: Rongwen Huang
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/05958575648514392023

碩士 === 國立彰化師範大學 === 機電工程學系所 === 103 === This research focuses on building a virtual prototype for an XY-motion platform using the multi-body system dynamics simulation software ADAMS, in combination with Matlab/Simulink to simulate and control the platform model, while a physical module is built in parallel for the purposes of system identification and control. The control system can be divided into proportional, integral and derivative (PID) controller and velocity feedforward controller, first using the PID controller for path tracking and positioning, then adding the velocity feedforward controller to enhance the tracking ability of the system and reduce mechanical delays. The virtual prototype simulation results validate the feasibility of physical implementation and the correctness/accuracy of the controller design.