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系統識別號 U0026-1002201214035500
論文名稱(中文) 精微伺服沖床之同動控制器研究
論文名稱(英文) Synchronized Servo Motors Controller Micro-Precision Servo Press
校院名稱 成功大學
系所名稱(中) 製造資訊與系統研究所碩博士班
系所名稱(英) Institue of Manufacturing Information and Systems
學年度 100
學期 1
出版年 101
研究生(中文) 丁懷南
研究生(英文) Dinh Hoai Nam
電子信箱 dinhhoainam52@yahoo.com
學號 P96997010
學位類別 碩士
語文別 英文
論文頁數 70頁
口試委員 指導教授-陳響亮
口試委員-郭興家
口試委員-鄭銘揚
口試委員-黃崇能
中文關鍵字 none 
英文關鍵字 Servo motor  feedback control  feed-forward control  slider-crank mechanism  dynamic analysis 
學科別分類
中文摘要 none
英文摘要 Synchronized servo motors controller on Micro-precision servo press to make high precision and high formability of servo presses, as well as high productivity of general purpose mechanical presses. The mechanical servo-drive press is operated by two AC servo motors and simulation results are presented. Pressure and position are controlled though a load cell and an encoder, respectively. Here, micro-precision servo press converts torque to linear force due to ball screw. The rotational motion of the system is converted to the slide using ball screws. By the reciprocating motion of motors and ball screws, the press slide moves down and up flexibility. From these feature, two servo motors are controlled by the method which combines feedback and feed-forward control. Based on an available process model the feedback control makes the system stabilize; the feed-forward control reduce tracking error due to frictional and cogging force based on identified model of the linear motor drive system. The research tracks the errors among the input signals of motor and output signals of servo press machine, improve transient response times, reduce the steady state errors and reduce the sensitivity to load parameters. Two servo motors synchronize their speed, the encoder error of two motors get approximate about 10-300 rpm in comparison with 500 rpm _ the encoder error standard that system can accept. Servo press is its low energy consumption, only 10-20% compering with others press machine. Another advantage is a quiet and clean work environment.
論文目次 Abstract I
Acknowledgement II
List of figures V
List of tables VIII
List of symbols IX
Chapter One Introduction 1
1.1 Press machine 1
1.1.1 Structure 1
1.1.2 Press machine with six links 2
1.1.3 Slide- crank mechanism drive servo press 3
1.1.4 High-speed press in the five kinds 5
1.1.5 Micro-precision servo press 5
1.2 Principle of press machine 6
1.3 Theory of control 7
1.3.1 Control of DC servo press 7
1.3.2 Control of AC servo press 10
Chapter Two Kinematic and dynamic analysis 12
2.1 Position analysis 12
2.2 Velocity and Acceleration analysis 16
2.3 Force analysis 17
2.3.1 Kinematic analysis on crank rotation 17
2.3.2 Kinematic analysis on connecting rod 17
2.3.3 Kinematic analysis on piston 18
2.4 Moment analysis 18
2.4.1 Moment analysis on crank rotation 18
2.4.2 Moment analysis on rod connecting 18
2.4.3 Moment analysis on piston 19
2.5 Analysis of motion of the center of mass 19
2.6 Lagrange’s equation 20
Chapter Three Motion control 28
3.1 Dynamic equation of mechanisms 28
3.2 Feed-back (FB) plus feed-forward (FF) controller 31
3.3 Synchronized two servo motors 42
Chapter Four Experiments and results 48
4.1 Experiment results 48
4.2 Remark 55
Chapter Five Conclusions and future works 56
5.1 Conclusions 56
5.2 Future works 56
References 57

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[13] Notes on mechanism anaylysis. Allen S.Hall, Jr. Prudue University, 1986
[14] Yohei Komaitai and Katsuhisa Furuta,” Energy Control of Slider-Crank Mechanism”, SICE, Annual Conference 2008, August 20-22, 2008.
[15] Zhao Shengdun, Zhang Xuelai, Gao Changyu, Liu Wei, Zhang Yong, “Investigation on Inertial Force Balance Assembly Units and Their Dynamic Characteristics of a High-Speed Press (Part II)”, China Metalforming equipment & manufacturing technology, 2005.
[16] Faa-Jeng Lin, “Real-Time IP Position Controller Design with Torque Feed-forward Control for PM Synchronous Motor”, IEEE Transactions on industrial electronics, Vol.44, No.3, June 1997.
[17] Wen-Hsiang Hsieh, Chia-Heng Tsai, ”On a novel press system with six links for precision deep drawing”, Mechanism and Machine theory, Vol.46, Feb 2011, pp 239-252.
[18] Iashige Takahashi, Hidekazu Nakamura, “Servo press safety requirements and safety measures”, March 2006 JFMA, Japan Forming Machinery Association Engineering Committee.
[191]Electric motors reference center, http://www.electricmotors.machinedesign.com
[20] Komatsu Industries Corp., http://www.komatsusanki.co.jp/en/tanatsu/eH2F.html

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