1-link 彈性 Arm에 대한 竝進 運動의 解析과 振動 制御

다국어 초록 (Multilingual Abstract)

This thesis is a theoretical and experimental study of the translational motion of the flexible arm with a tip mass to do effective position control.
This system is composed of the 1-link flexible arm, the DC servo motor, and the ballscrew mechanism. The tip displacement of the arm is measured by the laser sensor fixed in space and controlled by the motor through the ballscrew mechanism causing translational motion. The motor is driven by a feedback signal composed of the tip displacement and velocity.
In the numerical analysis, Laplace Transform is used for development of the governing equations, and its solution is obtained by applying the method of Numerical Laplace Inversion.
The transient response of the flexible arm subjected to the step input is obtained in both theoretical and experimental approaches.
Comparing the experimental results with the theoretical ones, we know both results are in agreement relatively for a wide range of parameters.
The obtained results are summerized as follows:
(1)In the case of the closed loop control, the convergence of the tip displacement of the arm to the desired position is significantly fast than that of the open loop control.
(2)The tip displacement of the arm converges the desired position more rapidly as the displacement feedback gain G_d increases. On the other hand, excessive value of G_d promotes the overshoot of the displacement.
As for the velocity feedback, the variation of the velocity feedback gain G_v hardly affects the response of the arm.

목차 (Table of Contents)

• 목차
• ABSTRACT = iii
• 제1장 서론 = 1
• 1.1 연구의 배경 = 1
• 1.2 연구의 내용 및 목표 = 2
• 1.3 기존의 연구 = 3
• 제2장 해석 = 4
• 2.1 이론 전개 = 4
• 2.2 Laplace 수치 역변환 = 20
• 제3장 실험 = 23
• 3.1 실험 장치 = 23
• 3.1.1 Micro Computer = 26
• 3.1.2 Servo Amplifier = 26
• 3.1.3 DC Servo Motor = 27
• 3.1.4 Converter = 28
• 3.1.5 Laser Sensor = 28
• 3.1.6 카운터 = 29
• 3.2 물리 정수들(Physical Parameters)의 결정
• 3.2.1 탄성 Arm = 32
• 3.2.1 선단 질량 = 36
• 3.2.3 DC Servo Motor = 26
• 3.2.4 Laser Sensor, Encoder 및 Converter의 Gain = 38
• 3.2.5 Power Amplifier = 39
• 3.2.6 물리 정수들(physical Parameters) = 39
• 3.3 결과 및 Data 처리 = 44
• 제4장 결과 및 분석 = 48
• 제5장 결론 = 68
• 참고문헌 = 69
• NOMENCLATURE = 72
• 부록 = 74