液压伺服机构适应性控制之研究.pdf

技術學刊 第二十五卷 第一期 民國九十九年 13 Journal of Technology, Vol. 25, No. 1, pp. 13-21 (2010) 液壓伺服機構適應性控制之研究 魏榮輝 陸志益 王永建 崑山科技大學機械工程系 摘 要 本文首先應用適應性模式追蹤控制理論於液壓伺服機構的定位控制，再而 將數位式適應性模式追蹤 PID 控制器以 Delphi 6.0 程式實現於個人電腦。本文 以模擬與實驗方式探討 PID 控制器在具有與無適應性模式追蹤效應時的定位 性能，顯現適應性模式追蹤控制效應確實可改善 PID 控制器的定位性能。 關鍵詞：模式追蹤控制器，PID 控制，伺服機構。 ADAPTIVE MODEL-FOLLOWING CONTROL OF THE HYDRAULIC SERVOMECHANISM Jong-Hwei Wei Jin-I Lu Yung-Jian Wang Department of Mechanical Engineering Kun Shan University Yung-Kang, Taiwan 71003, R.O.C. Key Words: model-following control, PID control, servomechanism. ABSTRACT In this paper, the adaptive model-following control theory, applied to position control of a hydraulic servomechanism is first presented. Second, a digital adaptive model-following PID controller is implemented on a PC- based computer with Delphi 6.0 software. The simulated and experi- mental results show the performance of the PID controller with and without the adaptive model-following control effects. The model showing follow- ing effects on position control shows that the performance of the PID controller can be improved by a suitable adaptation signal. 一、前 言 用 Delphi 程式把所要求的位置，利用 D/A 轉換器輸出電壓