The Applications of Adaptive CMAC Controller for XY Piezoelectric Stage

• Main Authors: LIN,HSUAN-YU, 林煊育
• Other Authors: MAO,WEI-LUNG
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/9xuzv4

碩士 === 國立雲林科技大學 === 電機工程系 === 105 === Motion control is an essential part of industrial machinery and manufacturing systems.In this thesis,the adaptive CMAC controller is proposed for precision trajectory tracking control in biaxial X-Y Piezoelectric Stage.The LUGRE model is utilized to be the system identification. The adaptive methods can be divided into direct and indirect ways. The direct CMAC controller is designed in accordance with the CMAC algorithm. The indirect CMAC controller is devised in accordance with the CMAC estimated parameters. The proposed CMAC control structures can be used to compensate the parameter uncertainty and external load disturbance. Lyapunov stability theorem has been used to prove asymptotic stability of the entire system and all the uncertain parameters. The MATLAB/Simulink tool are utilized to develop the adaptive CMAC system. The simulation results and experimental results on square, triangle, star and circle reference contours are presented to show that the proposed indirect controller indeed accomplish the better the tracking performances with regard to model uncertainties. The indirect method offers the better performances compared with the direct method. Overall, the average tracking error and tracking error standard deviation of the indirect and direct adaptive CMAC controller can achieve the good tracking capability for X-Y piezoelectric stage