| Summary: | 碩士 === 中原大學 === 機械工程研究所 === 91 === Abstract
Precision servo control usually exist errors due to the inaccurate identified system model, uncertain errors occurred during control process, and disturbances. In this study, because Variable Structure System Control (VSSC) provides the good capability of suppressing the effects due to uncertain errors and disturbances and PID controller can improve the characteristics of both transient and steady state response, a hybrid controller mainly consisting of VSSC and PD control is developed to enhance the accuracy of servo mechanisms. Besides, zero-pole assignment method is also adopted to further improve the performance of the developed controller. The other important contribution of this study is to develop the remote monitoring (RMON) unit and virtual control unit for the controller. Based on the developed units, the controller can perform on-line remote control/monitoring through internet, and also be able to proceed the virtual control simulation for design and training purpose. Experiments were conducted in the study, and the results have proved the effectiveness and feasibility of the developed controller.
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