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系統識別號 U0026-2507201116060900
論文名稱(中文) 應用重覆控制器於超音波馬達速度之漣波抑制
論文名稱(英文) Speed Control of Ultrasonic Motor using Repetitive Controller for Ripple Reduction
校院名稱 成功大學
系所名稱(中) 機械工程學系碩博士班
系所名稱(英) Department of Mechanical Engineering
學年度 99
學期 2
出版年 100
研究生(中文) 陳俊霖
研究生(英文) Chun-Lin Chen
學號 N16984785
學位類別 碩士
語文別 中文
論文頁數 58頁
口試委員 指導教授-蔡明祺
口試委員-陳國聲
口試委員-田思齊
口試委員-蔡孟勳
中文關鍵字 超音波馬達  重覆控制  速度漣波 
英文關鍵字 ultrasonic motor  repetitive control  speed ripple 
學科別分類
中文摘要 超音波馬達為藉由轉子與振動子間的摩擦力所驅動,此驅動方式造成馬達輸出轉速存在著與轉子位置相關的波動現象,或稱作為速度漣波。本論文以傅立葉級數數學表示式描述此速度漣波現象,並在馬達速度控制系統引入外掛型的重覆控制器,達到更好的速度控制效能。外掛型的重覆控制器型式,能在不影響原控制系統的穩定性,獨立設計控制器,本論文並提出兩種實現重覆控制器的方法作為比較。考量實際系統中,速度漣波的不確定性,以位置訊號為依據的重覆控制器實現架構較能有效的抑制馬達輸出轉速的漣波現象。由實驗結果也可證實本論文所提出之超音波馬達模型的正確性,及所採用之速度控制系統能有效地降低馬達的速度漣波現象。
英文摘要 Ultrasonic motors are driven by the friction force between the rotor and the vibrator, which often induces speed fluctuations synchronizing with the rotor position periodically, namely, speed ripple. In this thesis, the mathematical description of the ultrasonic motor for speed ripple is introduced using Fourier series, after which the speed control is designed with a plug-in type repetitive controller to enhance speed control accuracy. Such a design allows the plug-in type repetitive controller to be separated from the conventional speed controller, enabling it to be added subsequently without disturbing the existing stability of the control system. Moreover, two different implementations to estimate the period of speed ripple are discussed. Considering the uncertainty of the speed ripple, the position-dependent repetitive controller is also proposed to improve control efficiency in speed ripple reduction. Experiments also confirm the validity of the proposed ultrasonic motor model and speed control system, which significantly reduces speed ripple.
論文目次 摘要 I
Abstract II
致謝 III
圖目錄 VI
表目錄 VIII
符號表 IX
第一章 緒論 1
1.1 研究動機 1
1.2 文獻回顧 2
1.3 本文架構 8
第二章 超音波馬達驅動原理與結構 10
2.1 壓電材料 10
2.2 振動子與馬達驅動原理 11
第三章 超音波馬達速度控制 14
3.1 超音波馬達轉速特性 14
3.2 超音波馬達模型 17
3.3 超音波馬達速度控制 23
第四章 重覆控制系統 26
4.1 重覆控制器簡介與設計 26
4.2 時間延遲功能的實現 33
4.3 位置延遲功能的實現 36
4.4 重覆控制系統實現方式比較 40
第五章 實驗結果 44
5.1 實驗架構 44
5.2 重覆控制器抑制速度漣波之效果 47
第六章 結論與未來研究建議 53
參考文獻 55
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