高精度管型線性馬達之摩擦分析及補償器設計

Abstract

本論文研究之目的為設計並實現新型的高精密定位平台，並且針對摩擦力進行分析與補償器的設計。摩擦力為一種非常複雜的物理現象，會降低運動控制系統的定位精度與追蹤性能。

本論文所設計的實驗平台為單軸的定位平台，行程為210mm，平台整體為52920067mm3。為了減輕定位平台重量，平台機構採用鋁合金，傳動機構採用線性滑軌，致動器則使用管型線性馬達來驅動平台。

在摩擦力補償方面，我們首先建立與分析系統之動態模型，然後利用摩擦力模型或滑動觀測針對滑軌之摩擦力做估測，分別結合PID控制器、適應控制器或適應模糊控制器來對摩擦力進行補償，消除摩擦力對定位平台的影響，由模擬與實驗結果證明此系統為可行的。

The purpose of this paper is to design and achieve a high-precision positioning platform and design a compensator by analysis of friction. Friction is a very complex physical phenomenon. And it degrades the positioning accuracy and tracking performances of the system. This paper proposes a single axle positioning platform which travel is 210mm, and its size is as compact as 52920067mm3.The subject organization of the platform adopts the aluminum alloy material, in order to lighten the weight of the localization platform, the guiding devices adopt the linear slide rail. X axle use a tubular linear motor to drive the platform. Firstly, the plant and dynamic model are derived and analyzed. Next, The estimation of friction is used by friction model or sliding-mode observer combined with PID controller, adaptive controller, adaptive fuzzy controller to eliminate the effect of friction. From simulation and experiment results, possible implementation, and satisfactory performances, and have been demonstrated.