Study on the Improvement of Contour Accuracy for Servo System Using Iterative Learning Control and Taguchi Method
碩士 === 國立高雄應用科技大學 === 電機工程系博碩士班 === 104 === In this paper, we use Interactive Learning Control(ILC) to improve the position or velocity contour error of the servo motor controller. With the purpose of minimizing the contour error while limiting the number of iterations, the proposed method performs...
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ndltd-TW-104KUAS04420492017-04-08T04:31:37Z http://ndltd.ncl.edu.tw/handle/61211138130567074996 Study on the Improvement of Contour Accuracy for Servo System Using Iterative Learning Control and Taguchi Method 基於迭代學習控制與田口方法之伺服馬達 定位精度改善研究 CHEN,PO-HAO 陳柏豪 碩士 國立高雄應用科技大學 電機工程系博碩士班 104 In this paper, we use Interactive Learning Control(ILC) to improve the position or velocity contour error of the servo motor controller. With the purpose of minimizing the contour error while limiting the number of iterations, the proposed method performs compensation with the upcoming command based on the calculated error of feedback positioning signals and the previous output command. At the same time, we applied a Kalman Filter to the presented iterative learning controller in this paper to prevent the learning process from the high frequency noise comes from control or feedback signals. These features and their performance was verified with the experimental results in the Chapter 3. Besides, the Taguchi Methods is used to analyze the influences of the controller parameters to the contour error convergence and the parameter optimization is also discussed in the paper. Chou,Jyh-Horng 周至宏 2016 學位論文 ; thesis 72 zh-TW |
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碩士 === 國立高雄應用科技大學 === 電機工程系博碩士班 === 104 === In this paper, we use Interactive Learning Control(ILC) to improve the position or velocity contour error of the servo motor controller. With the purpose of minimizing the contour error while limiting the number of iterations, the proposed method performs compensation with the upcoming command based on the calculated error of feedback positioning signals and the previous output command. At the same time, we applied a Kalman Filter to the presented iterative learning controller in this paper to prevent the learning process from the high frequency noise comes from control or feedback signals. These features and their performance was verified with the experimental results in the Chapter 3. Besides, the Taguchi Methods is used to analyze the influences of the controller parameters to the contour error convergence and the parameter optimization is also discussed in the paper.
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Chou,Jyh-Horng |
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Chou,Jyh-Horng CHEN,PO-HAO 陳柏豪 |
author |
CHEN,PO-HAO 陳柏豪 |
spellingShingle |
CHEN,PO-HAO 陳柏豪 Study on the Improvement of Contour Accuracy for Servo System Using Iterative Learning Control and Taguchi Method |
author_sort |
CHEN,PO-HAO |
title |
Study on the Improvement of Contour Accuracy for Servo System Using Iterative Learning Control and Taguchi Method |
title_short |
Study on the Improvement of Contour Accuracy for Servo System Using Iterative Learning Control and Taguchi Method |
title_full |
Study on the Improvement of Contour Accuracy for Servo System Using Iterative Learning Control and Taguchi Method |
title_fullStr |
Study on the Improvement of Contour Accuracy for Servo System Using Iterative Learning Control and Taguchi Method |
title_full_unstemmed |
Study on the Improvement of Contour Accuracy for Servo System Using Iterative Learning Control and Taguchi Method |
title_sort |
study on the improvement of contour accuracy for servo system using iterative learning control and taguchi method |
publishDate |
2016 |
url |
http://ndltd.ncl.edu.tw/handle/61211138130567074996 |
work_keys_str_mv |
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