國立臺灣師範大學機電科技系精密運動控制實驗室論文系統


論文名稱:	以電磁驅動之二維高精度定位平台設計與控制
	Design and Control for a 2-DOF High-Precision Positioning Platform Using Electical-Magnetic Device
研究生:	周昌翰 Chang-Han Jou
指導教授:	陳美勇 Mei-Yung Chen
學位類別:	碩士(Master)
學校名稱:	國立臺灣師範大學
記錄編號:	GN0695730046
系所名稱:	機電科技研究所
畢業學年度:	96
語文別:	中文
關鍵字:	電磁力驅動器 Electro-magnetic Actuator
	微米級微步進定位平台 micro Positioner
	模糊控制 Fuzzy control
	適應控制 Adaptive control
全文說明:	電子全文
論文頁數:	111
摘要:	本論文研究之目的是設計並實現一新型、長行程、二自由度運動的微米級定位平台。本研究是基於本精密運動實驗室以前對於電磁驅動器研究之基礎，再結合機構之設計，進行一創新型之微米級微步進定位平台之研製作為本研究之主要課題。我們所設計之新型電磁推力精密定位系統，其構造是由兩個主動式之線圈與一個兩端鑲有永久磁鐵之被動式移動平台所組成，而其驅動原理是利用電磁線圈與永久磁鐵間所產生之相互作用力，藉由調整輸入電磁線圈之電流，而改變運動平台之位置。因此特殊之機構設計使本研究之定位系統運行時，具有兩倍之推力。
	首先，我們先設計與實現定位系統受控裝置並且對其建立與分析系統之動態模型，而後則分別建立PID控制器、適應模糊控制器與適應滑動模式控制器並且對滑軌之摩擦力作補償設計。由模擬與實驗結果證明此系統為可行的。
	本論文所設計的平台在X與Y二維度之最大行程可達，且最高解析度為，平台整體尺度為。平台主體機構採用鋁合金材料，以減輕定位平台之重量，導引裝置採用上銀科技之線性滑軌；致動裝置則X軸與Y軸分別使用兩組電磁驅動致動器來達成定位平台二維之運動。

	This paper proposes a novel 2-DOFs positioner system with large travel ranges is presented. This research is a foundation studied to the electromagnetic driver in the past on the basis of the precise motion control laboratory, and Combine the design of the mechanism, that design a novel micro positioner is the main task of this research. We design a novel electromagnetic precise position system which is consisted of electrical-magnetic system (coil and permagnet) and motion pad. The movement of the motion pad is due to the repelling force between the coils and the magnets affixed to the pad. It's to change the position of the movement platform by adjusting the current of the electromagnetic coils. Therefore, the special mechanism designs while making the position system of this research motion, have double thrust.

	First, the plant and the dynamic model are derived and analyzed. Next, PID controller, adaptive fuzzy controller and adaptive sliding mode controller are established and linear guide produce friction is compensated by Tustin model. From simulation and experiment results, possible implementation, and satisfactory performances, and have been demonstrated.

	The concept of this system intends to achieve three goals: the first one is large traveling range within . The second is precision positioning within , and its size is as compact as . The subject organization of the platform adopts the aluminium alloy material, in order to lighten the weight of the localization platform, the guiding devices adopt the linear slide rail of Hiwin; X axle and Y axle separately use two electromagnetic actuator to reach the platform two-dimentional motion .

論文目次:	摘要..............................................................................................I
	Abstract.........................................................................................II
	致謝.............................................................................................III
	目錄.............................................................................................IV
	圖目錄........................................................................................VII
	表目錄.........................................................................................XI
	第一章緒論..................................................................................1
	1.1 前言.........................................................................................1
	1.2 文獻回顧.................................................................................3
	1.3 研究動機與目的.....................................................................7
	1.4 本論文之貢獻.........................................................................8
	1.5 論文架構.................................................................................8
	第二章理論基礎..........................................................................9
	2.1 羅倫茲力原理.........................................................................9
	2.2 電位向量與向量位移方程式...............................................11
	2.3 比爾沙法疊加(superposition integral of Biot-Savar Law)........14
	2.4 電磁鐵造成磁場...................................................................16
	2.4.1 圓柱形電磁鐵之磁場........................................................16
	2.5 磁場由於載電流直導線.......................................................17
	2.6 永久磁鐵...............................................................................20
	第三章系統組成設計與配置....................................................26
	3.1 設計流程規劃.......................................................................26
	3.2 電磁式致動器.......................................................................26
	3.2.1 音圈馬達............................................................................26
	3.2.2 電磁式致動器設計............................................................27
	3.3 x-y軸定位平台設計.............................................................31
	3.3.1 x軸定位平台設計.............................................................32
	3.3.2 y軸定位平台設計.............................................................33
	3.4 量測系統...............................................................................34
	3.5 定位平台整體架構...............................................................35
	第四章系統模型推導................................................................38
	4.1 力量描述與分配...................................................................38
	4.1.1 電磁推力致動器之推力特徵............................................38
	4.2 動態方程式...........................................................................42
	第五章控制系統設計................................................................45
	5.1 PID 控制器............................................................................47
	5.1.1 Ziegler-Nichols調整演算法.................................................49
	5.1.2 Chien-Hrones-Reswick調整演算法....................................50
	5.1.3 Cohen-Coon調整演算法....................................................52
	5.2 適應模糊控制器設計...........................................................52
	5.2.1 模糊控制器設計................................................................54
	5.2.2 穩定性分析........................................................................57
	5.2.3 模擬結果............................................................................59
	5.3 適應順滑模型控制器設計...................................................61
	5.3.1 順滑平面............................................................................62
	5.3.2 控制器形式........................................................................63
	5.3.3 穩定性分析........................................................................64
	5.3.4 模擬結果............................................................................66
	第六章實驗結果與討論............................................................69
	6.1 實驗設備...............................................................................69
	6.1.1 定位平台............................................................................69
	6.1.2 控制器介面........................................................................72
	6.1.3 感測器與驅動器................................................................78
	6.2 PID控制器實驗結果............................................................79
	6.2.1 定點控制............................................................................79
	6.2.2 正弦波控制........................................................................81
	6.2.3 方波控制............................................................................83
	6.3 適應模糊控制器實驗結果...................................................84
	6.3.1 定點控制............................................................................84
	6.3.2 正弦波控制........................................................................86
	6.3.3 方波控制............................................................................86
	6.3.4 連續步階定位控制............................................................87
	6.4 適應順滑模式控制器實驗結果...........................................88
	6.4.1定點控制.............................................................................88
	6.4.2 正弦波控制........................................................................90
	6.4.3 方波控制............................................................................91
	6.4.4 連續步階定位控制............................................................91
	6.5 實驗結果總結.......................................................................92
	第七章結論及未來展望............................................................92
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