https://scholars.lib.ntu.edu.tw/handle/123456789/62571
DC 欄位 | 值 | 語言 |
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dc.contributor | 顏家鈺 | en |
dc.contributor | 臺灣大學:機械工程學研究所 | zh_TW |
dc.contributor.author | 彭勇皓 | zh |
dc.contributor.author | Peng, Yung-Hao | en |
dc.creator | 彭勇皓 | zh |
dc.creator | Peng, Yung-Hao | en |
dc.date | 2005 | en |
dc.date.accessioned | 2007-11-28T07:58:18Z | - |
dc.date.accessioned | 2018-06-28T17:07:56Z | - |
dc.date.available | 2007-11-28T07:58:18Z | - |
dc.date.available | 2018-06-28T17:07:56Z | - |
dc.date.issued | 2005 | - |
dc.identifier | zh-TW | en |
dc.identifier.uri | http://ntur.lib.ntu.edu.tw//handle/246246/61343 | - |
dc.description.abstract | 現代光學掃描系統的性能主要是仰賴掃描平台,不僅是要擴大掃描平台的掃描範圍,還要提高掃描平台的解析度。本篇論文利用電腦輔助設計出一新型光學鏡面掃描平台,經由系統識別、動態模擬和分析,使得掃描平台可以符合高性能的運動要求。這個光學掃描平台使用壓電致動器作為驅動源,並用撓曲構造與鏡面相連接,經由回授控制後,可使掃描的範圍達到正負3.84毫弳度。掃描的控制上,我們利用ILC(Iterative Learning Control)來改善掃描的解析度。由實驗結果可以發現:不同的參考輸入可經由ILC來提高掃描解析度,不同方向的掃描解析度分別可達到10微徑度和6.67微徑度。 | zh_TW |
dc.description.abstract | Modern optical systems rely on scanning platform not only to broaden the field of view but also to enhance the viewing resolution. This thesis discusses a computer aided engineering (CAE) approach to a novel high speed optical scanning platform [1]. By aid of the accurate system identification and the dynamic simulation and analysis, the scanning platform achieved by the design is able to comply with some very high performance motion requirements. The optical scanning platform [1] uses piezoelectric transducers (PZT) with flexure joints. The scanning range of the novel optical scanning platform [1] can reach as wide as 3.84 mrads and minus 3.84 mrads after feedback. Different scanning reference demands are scheduled with an ILC controller in an attempt to achieve enhanced resolutions. The scanning resolutions are 10 μrad and 6.67 μrad in each scanning direction when operated respectively under the ILC controller. Experimental results are also provided to show the efficacy of the proposed approach. | en |
dc.description.tableofcontents | 第一章 緒論 1 1.1 前言 1 1.2 研究動機與目的 2 1.3 相關文獻 4 1.3.1 壓電掃描機構之回顧 4 1.3.2 反覆學習控制之回顧 5 1.4 論文架構 7 第二章 掃描機構設計 9 2.1 設計概念 9 2.2 旋轉接頭的取代設計 12 2.3 幾何光學基本考量 14 2.4 掃描機構尺寸設計 19 第三章 有限元素分析 22 3.1 WORKING MODEL軟體模擬與分析 24 3.1.1 伺服性能模擬系統之建立 25 3.1.2 回授的控制流程 26 3.2 ANSYS軟體模擬與分析 28 3.2.1 ANSYS 架構 28 3.2.2 模態分析 34 3.2.3 諧波分析 40 3.2.4 暫態分析 43 第四章 光學掃描實驗平台 52 4.1 實驗平台概述 52 4.2 積層式壓電致動器 54 4.2.1 壓電材料之簡介 54 4.2.2 積層式壓電致動器 55 4.2.3 積層式壓電致動器PSt 150/2×3/20 56 4.3 壓電驅動器 58 4.4 LVDT 60 4.4.1 LVDT之簡介 60 4.4.2 LVDT之原理 61 4.4.3 LVDT E-115.21 62 4.5 訊號擷取卡 65 4.5.1 類比數位轉換卡 65 4.5.2 數位類比轉換卡 66 4.5.3 輸入電壓最小可偵測範圍 66 4.6 PSD & 運算電路 70 4.6.1 PSD 70 4.6.2 運算電路 72 4.6.3 PSD校正實驗 73 4.7 掃描機構控制迴路硬體限制 75 第五章 系統識別 77 5.1 系統描述 78 5.2 線性疊加實驗 80 5.3 系統識別方法 84 5.4 系統識別之結果 86 5.5 系統模型驗證 92 第六章 反覆學習控制器設計與模擬 98 6.1 反覆式學習控制理論 98 6.2 反覆學習控制計算 102 6.3 反覆學習控制器設計 111 6.4 反覆學習控制器模擬 116 6.4.1 反覆學習控制器設計一 116 6.4.2 反覆學習控制器設計二 120 6.4.3 反覆學習控制器設計三 122 6.4.4 MIMO系統之反覆學習控制器模擬 128 第七章 實驗結果與討論 131 7.1 實驗一:追蹤頻率1(HZ)之弦波訊號 132 7.2 實驗二:追蹤頻率1(HZ),512步階三角波訊號 136 7.3 實驗三:追蹤頻率1(HZ),32步階三角波訊號 141 7.4 實驗四:追蹤頻率1(HZ)之三角波訊號 144 第八章 結論與未來展望 148 參考文獻 150 | zh_TW |
dc.format.extent | 2900709 bytes | - |
dc.format.mimetype | application/pdf | - |
dc.language | zh-TW | en |
dc.language.iso | en_US | - |
dc.subject | 光學掃描系統 | en |
dc.subject | 壓電掃描機構 | en |
dc.subject | 反覆學習控制 | en |
dc.subject | Optical Scanning System | en |
dc.subject | Piezo-Scanning Mechanism | en |
dc.subject | Iterative Learning Control | en |
dc.title | 新型光學鏡面掃描系統之伺服設計 | zh |
dc.title | Servo Design of a Novel Optical Mirror Scanning System | en |
dc.type | thesis | en |
dc.identifier.uri.fulltext | http://ntur.lib.ntu.edu.tw/bitstream/246246/61343/1/ntu-94-R92522821-1.pdf | - |
dc.relation.reference | [1] Y. Yeh, J. Yen, and C. Lee, “A Novel High-Speed Optical Scanning Platform,” Proceedings of SPIE, Vol.5638 Page352-361, Nov 2004 [2] V. Fowler and J. Schlafer, “A Survey of Laser Beam Deflection Technique,” Applied Optics, Vol.5, No.10, pp.1675-1682, 1966. [3] M. Okuda, N. Wakita, K. Ohya, H. Banno and S.Hattori, “A Laser Scanner Using Stacked Piezoelectric Ceramic Actuator,” Japanese Journal of Applied Physical, Vol.25, Sup.25-1, pp.223-225, 1986. [4] T. Ono, “Optical Beam Deflector Using a Piezoelectric Bimorph Actuator,” Sensors and Actuators, A21-A23, pp.726-728, 1990. [5] 李霖鴻, “光電掃描器之設計與控制,” 國立中央大學機械工程研究所碩士論文, 1990. [6] R. A. Buser, N. F. de Rooij, H. Tischhauser, A. Dommann and G. Staufert, “Biaxial Scanning Mirror Activated by Bimorph Structures for Medical Applications,” Sensors and Actuators A, No.31, pp.29-34, 1992. [7] 駱世民, “壓電掃描機構之設計與分析,” 國立台灣大學機械工程研究所碩士論文, 1993. [8] S. S. Arimoto, S. Kawamura and F. Miyazaki, “Bettering Operation of Robots by Learning,” J. of Robotic System, Vol.1, No.2, pp.123-140, 1984. [9] Z. Geng, R. Carroll and J. Xie, “Two-Dimensional Model and Algorithm Analysis for a Class of Iterative Learning Control System,” Int. J. of Control, Vol.52, pp.883-862, 1990. [10] Z. Geng, D. J. Lee, R.L. Carrol, L. H. Haynes “Learning Control System Design Based on 2-D Theory-An Application to Parallel Link Manipulator,” IEEE J. of Robotics and Automation, Vol.6, No.2,pp.1510-1515, 1991. [11] D. H. Hwang, S. R. Oh and Z. Bien, “Iterative Learning Control Method for Time Dynamic System,” IEEE Proceeding-D, Vol.138, No.2, pp.139-144, 1991. [12] J. E. Kurek and M. B. Zaremba, “Iterative Learning Control Synthesis Based on 2-D System Theory,” IEEE Trans. on Automatic Control, Vol.38, No.1, pp.121-125, 1993. [13] 賴國雄, “基於二維系統理論的反覆式學習控制器設計,” 國立成功大學航太所碩士論文, 1994. [14] K. L. Moore, “Iterative Learning Control for Deterministic System,” Advances in Industrial Control Series, Springer London. [15] N. Amann, D. H. Owen and E. Roger, “Iterative Learning Control for Discrete-Time System with Exponential Rate of Converge,” IEEE Proceeding on Control Theory Applications, Vol.143, No.2, pp.217-224, 1996. [16] N. Amann, D. H. Owen and E. Roger, “Iterative Learning Control Using Optimal Feedback and Feedforward Actions,” Int. J. of Control, Vol.65, No.2,pp.277-293, 1996. [17] T. W. S. Chow and Y. Fang, “An Iterative Learning Control Method for Continuous-Time System Based on 2-D System Theory,” IEEE Trans on Circuits Systems, Vol.45, No.4, pp.683-689, 1998. [18] T. W. S. Chow and Y. Fang, “Iterative Learning Control of Linear Discrete-Time Multivariable System,” Automatica, Vol.34, No.11, pp.1459-1462, 1998. [19] S. R. Oh, Z. Bien and I. H. Suh, “An Iterative Learning Control Method with Application for the Robot Manipulator,” IEEE J. of Robotics and Automation, Vol.4, No.5, pp.508-514, 1988. [20] D. W. Wang, “A Simple Iterative Learning Controller for Manipulator with Flexible Joints,” Automatica, Vol.31, No.9, pp.1341-1344, 1995. [21] A . D. Barton, P. L. Lewin and D. J. Brown, “Practical Implementation of a real-Time Iterative Learning Position Controller,” Int. J. of Control, Vol.73, No.10, pp.992-999, 2000. [22] 陳永健, “超精密六軸定位平台及伺服系統之設計,” 國立台灣大學機械工程研究所碩士論文, 1998. [23] http:// www.macrosensors.com/ [24] 惠汝生, 自動量測系統-LabVIEW, 全華科技圖書股份有限公司, 2002. [25] http://www.mellesgriot.com/default.asp/ [26] Domenico Scalamogna, “Iterative Learning Control with Application to Robotics,” Master Thesis of Department of Automatic Control Lund Insititute of Technology. | zh_TW |
item.openairecristype | http://purl.org/coar/resource_type/c_46ec | - |
item.openairetype | thesis | - |
item.languageiso639-1 | en_US | - |
item.grantfulltext | open | - |
item.cerifentitytype | Publications | - |
item.fulltext | with fulltext | - |
顯示於: | 機械工程學系 |
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ntu-94-R92522821-1.pdf | 23.53 kB | Adobe PDF | 檢視/開啟 |
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