As the electronic products are gotten smaller and the quantity of output is to be requested, the trend of the needs for speed and accuracy is more precise. Therefore, upgrading the speed and the accuracy of contour error on tracking control has become an important point.
This research is focus on the improvement of tracking error and contour error. In tracking error, we propose that the compensation of friction disturbance is by building friction model. And then adaptive robust controller is used to eliminate other disturbance. Finally, velocity feedforward controller is used to improve system dynamic response and to remove the effect of time delay. The combination of such controllers can improve tracking error directly and contour error indirectly. In contour error, we use cross-coupled controller to coordinate the motors and to reform contour error. On the association of such controllers, we propose the design method of cross-coupled controller, to replace the traditional way of try-and-error, and improving contour error again.
Finally, the above improving strategies are verified by the simulation and experimental results.
| Identifer | oai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0813101-223404 |
| Date | 13 August 2001 |
| Creators | Chen, Ming-Chi |
| Contributors | Yih-Tun Tseng, Ing-Rong Horng, Kan-Ping Chin |
| Publisher | NSYSU |
| Source Sets | NSYSU Electronic Thesis and Dissertation Archive |
| Language | Cholon |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0813101-223404 |
| Rights | unrestricted, Copyright information available at source archive |
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