Position and Force Servo Control of a 1-DOF Mechanical System: Theory and Experiment

Autor:	I-Hsuan Lee, 李怡萱
Rok vydání:	2013
Druh dokumentu:	學位論文 ; thesis
Popis:	101 Control of any mechanical system in one degree of freedom has to satisfy the physical limitation called causality which gives the restriction that either force or position can be controlled. This thesis proposes a new switching controller to a voice coil motor for combining both control activities smoothly into one simple control strategy. An adaptive impedance controller based on the function approximation technique is designed for the free space tracking while a PID loop is constructed to provide force servo performance. A CMP sigmoidal function is employed to give smoothness of the transitions between two controllers. Rigorous mathematical analysis for the closed loop stability and the boundedness of internal signals is performed here. To justify the efficacy of the proposed design, an experimental setup is built and several experiments are conducted.
Databáze:	Networked Digital Library of Theses & Dissertations
Externí odkaz:	http://ndltd.ncl.edu.tw/handle/33776595901169380637 Zobrazit plný text záznamu