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論文中文名稱:多段循跡運動曲線在三軸次微米平台上之研究及應用 [以論文名稱查詢館藏系統]
論文英文名稱:The Study and Application of Multi-Segment Contouring Curves for Precision 3D Motion Platform [以論文名稱查詢館藏系統]
院校名稱:臺北科技大學
學院名稱:機電學院
系所名稱:自動化科技研究所
畢業學年度:98
出版年度:99
中文姓名:陳昱志
英文姓名:Yu-Chih Chen
研究生學號:96618016
學位類別:碩士
語文別:中文
口試日期:2010-01-21
論文頁數:81
指導教授中文名:洪永銘
口試委員中文名:顏炳郎;賴明鈞
中文關鍵詞:運動控制三軸次微米平台速度規劃速度補償
英文關鍵詞:Trajectory Motion ControlSpeed Compensation
論文中文摘要:在CNC工具機上,對於外型複雜的曲線,往往是拆解成多段較單純的線段依序加工,因此機台需要在每個線段內都個別執行「加速-等速-減速」的動作。然而頻繁地加減速除了使加工時間隨著線段數目的增加而拉長以外,對於需要調控加工強度的設備,暫態的加減速行為也容易成為加工品質上的不穩定點。此外,不當地加減速規劃也容易對機台造成不當的作用力與振動,而導致加工件或刀具在移動時的定位誤差,不但使工件的加工精度變差,還可能增加機台磨耗、縮減設備的壽命。因此本研究從曲線路徑、速度規劃、插值器的原理來探討以單次加減速度完成多段曲線時所產生的現象與問題,並對其提出補償策略;再用Physik Instrument公司所生產之C-843運動控制卡與M511.DD型之X-Y-Z平臺,結合AutoCAD內建之VBA語言撰寫介面,實際比較補償前後的速度曲線差異。經實驗證明,在高速運動時,本研究的補償方式可有效減少曲線間在動態銜接時因插值器殘值所造成不確定的速度誤差,使加工路徑的動態銜接更為平順。
論文英文摘要:In CNC machining, the execution of a complex profile is usually composed of many sequential simple curve segments, so the table has to accelerate and decelerate in each segment. However, the frequently speed change not only extend the running time but also make the machining quality not uniform. Besides, the improper force and vibration caused by improper speed planning would shorten the life of machine center. This study investigates the phenomenon and problems of multi-segment motion with single speed planning, then proposes a method to compensate. The C-843 motion control card and the X-Y-Z platform model M511.DD, which are both produced by Physik Instrument Inc., are used for experiment in this research. The experiment result shows that when two curve motions connect with a non-zero speed, the proposed compensation method could effectively reduce the uncertain speed error caused by the residue of interpolator.
論文目次:中文摘要 i
英文摘要 ii
誌謝 iii
目錄 iv
表目錄 vi
圖目錄 vii
第一章 緒論 1
1.1 前言 1
1.2 研究動機 2
1.3 運動控制文獻回顧 2
第二章 路徑規畫 5
2.1 Bezier Curve 6
2.2 B-Spline 7
2.3 NURBS 9
2.4 Cubic Spline 11
2.5 Hermite Spline 13
2.6 Kochanek-Bartels Spline 15
2.6.1 張力 15
2.6.2 連續性 17
2.6.3 偏移 18
第三章 速度規劃 20
3.1 梯形法 20
3.2 多項式加減速法 22
3.3 S形曲線加減速 24
第四章 插值器與多段行程的運動控制 29
4.1 即時曲線插值器 29
4.2 曲線銜接 32
第五章 系統架構與實驗 39
5.1 系統架構 40
5.2 實驗結果 44
5.2.1 實驗一 44
5.2.2 實驗二 51
5.2.3 實驗三 58
5.2.4 實驗四 66
第六章 結論與未來展望 78
參考文獻 79
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