智慧型分數階動態面同動控制之三軸龍門式定位平台
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2020
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本論文以個人電腦控制為基礎，發展具有高精度與高強健性之智慧型同動控制系統於龍門式定位平台。龍門式定位平台是以三部永磁線型同步馬達所組成H型架構的三軸定位平台，而永磁線型同步馬達本身存在許多不確定性會影響運動性能，且龍門式定位平台之x方向是由兩部平行馬達所共同驅動，因此兩馬達間的運動自然會受到耦合限制，故同動控制為研究龍門式定位平台之重要課題。有鑑於此，本論文先以拉格朗日方程式建立三自由度龍門動態模型，而為了達到雙平行馬達之同動控制，本論文發展動態面控制系統來追蹤x和y方向的目標軌跡，接著將動態面控制系統的一階低通濾波器改成分數階濾波器發展為分數階動態面控制系統，來增加可控制的參數自由並提升控制精準度與雙軸之同動控制效果。最後為了確保系統在外在干擾、參數變化與摩擦力等影響下系統均具備強健性，再利用本論文所提出的樹突狀神經網路估測器來補償系統之不確定項，發展智慧型分數階動態面控制系統，上述控制系統皆以李亞普諾夫穩定性來證明系統的穩定。實作結果顯示智慧型分數階動態面控制器能有效提高三軸之追隨精準度、同動性以及強健性，驗證本論文所提出之控制理論的有效性與可行性。
The purpose of this thesis is to develop an intelligent synchronous control system based on personal computer with high precision and high robustness on a gantry positioning stage. The gantry positioning platform is a three-axis positioning stag with an H-shaped structure composed of three permanent magnet linear synchronous motors (PMLSMs). There are many uncertainties on a PMLSM, those will affect the motion control performance. The x-axis direction of the gantry positioning stage is driven by two parallel PMLSMs, the movement between these two motors is naturally limited by coupling. Because of the above reason that synchronous control is an important topic for researching gantry positioning stage. In view of this, this thesis first establishes a three-degree-of-freedom gantry dynamic model based on theLagrange mechanics. In order to achieve synchronous control of these dual parallel motors, this thesis firstly develops a dynamic surface control(DSC) system to track the target x-direction and y-direction trajectory. Then the first-order filter of the DSC control system is changed to a fractional-order filter to establish a fractional-order dynamic surface control (FODSC) system for increasing the freedom of adjustable parameters, improving the control accuracy and the synchronous control performance. Finally, in order to ensure that the system under the influence of external interference, such as parameter changes, and friction is robust, the dendritic neural model (DNM) network observer proposed in this paper is used to compensate for the uncertainties of the system to establish an intelligent fractional-order dynamic surface control (IFODSC) system. As mentioned above all control systems use Lyapunov stability theorem to prove the stability of the system. The experiment result shows that IFODSC system can effectively improve the tracking accuracy of the three-axis, synchronous and robustness of the system, it also verifies the effectiveness and feasibility of the control theory proposed in this paper.
The purpose of this thesis is to develop an intelligent synchronous control system based on personal computer with high precision and high robustness on a gantry positioning stage. The gantry positioning platform is a three-axis positioning stag with an H-shaped structure composed of three permanent magnet linear synchronous motors (PMLSMs). There are many uncertainties on a PMLSM, those will affect the motion control performance. The x-axis direction of the gantry positioning stage is driven by two parallel PMLSMs, the movement between these two motors is naturally limited by coupling. Because of the above reason that synchronous control is an important topic for researching gantry positioning stage. In view of this, this thesis first establishes a three-degree-of-freedom gantry dynamic model based on theLagrange mechanics. In order to achieve synchronous control of these dual parallel motors, this thesis firstly develops a dynamic surface control(DSC) system to track the target x-direction and y-direction trajectory. Then the first-order filter of the DSC control system is changed to a fractional-order filter to establish a fractional-order dynamic surface control (FODSC) system for increasing the freedom of adjustable parameters, improving the control accuracy and the synchronous control performance. Finally, in order to ensure that the system under the influence of external interference, such as parameter changes, and friction is robust, the dendritic neural model (DNM) network observer proposed in this paper is used to compensate for the uncertainties of the system to establish an intelligent fractional-order dynamic surface control (IFODSC) system. As mentioned above all control systems use Lyapunov stability theorem to prove the stability of the system. The experiment result shows that IFODSC system can effectively improve the tracking accuracy of the three-axis, synchronous and robustness of the system, it also verifies the effectiveness and feasibility of the control theory proposed in this paper.
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Keywords
龍門式定位平台, 永磁線型同步馬達, 三自由度龍門動態模型, 動態面控制, 同動控制, 樹突狀神經網路, 分數階濾波器, gantry positioning stage, magnet linear synchronous motor, three-degree-of-freedom gantry dynamic model, dynamic surface control, synchronous control, dendritic neural model, fractional-order filter.